BOOK 01y

Reference: PDS2000 – TPE implementation for Version 3.7.0.
53 and up
PDS2000 - TPE Implementation-Rev4.Docx
Document ID: Date: 2012.12.21
Revision: 4
1. Introduction
The release of PDS2000 Version 3 end 2006 brought amongst many other new features, the
integration of CUBE modeling together with the implementation of the TPE computation.
The CUBE (Concurrent Uncertainty Bathymetric Estimator) algorithm is developed by the

University of New Hampshire. With CUBE a statistical best fit surface is generated from a set
of multibeam soundings. The data must be appropriately attributed with horizontal and verti-
cal error information. PDS does this already in real-time.
CUBE is embedded in the 3D area editor that is part of PDS Processing. The editor offers var-
ious visualizations of the CUBE results; color codes display by depth, number of hypothesis,
strength and uncertainty. The final CUBE surface can be used as a PDS Grid model but can
also be used as a filter for the original data.
As part of the CUBE support in PDS2000 a TPE (Total Propagated Error) computation is add-
ed specifically for multibeam applications. The related equipment like positioning, motion,
compass and multibeam have properties to define their accuracy.
The TPE is computed in real-time and a number of displays are available to visualize both
horizontal and vertical TPE.
It is possible to use the TPE as a filter by setting either the relevant IHO order or by defining
a custom vertical error limit. The TPE values are also the basis for the CUBE processing and
used to assign a weight to a sounding when populating the nodes in the CUBE grid
2. Error model background

The error model implemented in PDS2000 is based on the concept of forward error propaga-
tion. In theory, the computed errors come from the process of error accumulating from all
possible error sources in measurement which is not only the multibeam itself but also the re-
lated navigation sensors such as GPS, Vertical Reference Unit (VRU) and so on. To compute
the errors, besides the multibeam measurements, the accuracy information for the sensor
data is required.
The error model is used to estimate horizontal and vertical accuracy values for each beam by
accounting for and propagating the estimated random error contributions from all sources.
- The PDS2000 error model originates from the CUBE implementation which in turn is
based on the well known error model developed by CHS (Canadian Hydrographic Ser-
vice) and OMG (Ocean Mapping Group of University of New Brunswick)1
- The reported error values in PDS2000 are always presented as 95% confidence level
values.
- PDS2000 follows the CUBE implementation where the horizontal error resulting from the
fore-aft beam opening angle is not included.
1
1995 CHS Error Model Report – Hare, Godin and Mayer
1
Reference: PDS2000 – TPE implementation for Version 3.7.0.53 and up
Revision: 4
3. Horizontal Error
The diagram below illustrates the error contributions included in the total horizontal error.
Some apply to the entire swath while other errors are range and angle dependant
When available from the GPS system and supported by the PDS driver, the real-time accura-
cy information from the GPS will be used
When not available from GPS system, the GPS mode will be used to assign default values ac-
cording to table below.
GPS Horizontal Vertical

mode For X and For Z in
Y in m. m.
GPS 5 5
DGPS 1 1
RTK .05 .05
Horizontal error – diagram
Swath Per beam
Total GPS error Range error Heading error Angle error Pitch error Beamwidth error
GPS horizontal
error
SV profile error + Heading sensor error Angle error over Total pitch error over Eror due to Along
Range measurement over beam range beam range depth beamwidth over
error beam range
Total Latency er- Angle meas error + Total pitch error :

Angle svp error + Pitch sensor error +
ror Angle surf speed er- Alignment error +
Range measurement
error: Beam uncer- ror Stabilisation error
tainty or computed
Vessel speed er- range error (sample
dist, pulselength)
ror, Heading er-
ror, Pitch error
Angle meas error:

Beam across width
error (Ampli-
tude/Phase)
Total tx relative
error
Offset measure-
ment error + re-
lated heading,
roll, pitch errors
2
Revision: 4
4. Vertical Error
The diagram below illustrates the error contributions included in the total vertical error.
Some apply to the entire swath while other errors are range and angle dependant
Vertical error - diagram
Swath Per beam
Total vertical Total heave er- Range error Angle error Pitch error Beamwidth er-
reduction error ror ror
Errors for Measured heave Beam uncertainty Total roll error Total pitch error Along beamwidth
Draft, Squat, error, Induced or computed over beam range over beam range coefficient over
range error (sam- depth
Load, Tide, heave error
ple dist, pulse-
GPS Z error length) +
Soundvelocity
error Total roll error : Total pitch error :
Base roll error + Pitch sensor error
Angle meas error + Alignment error
+ Angle svp error + Stabilisation
+ Angle surface error
speed error
Base roll error:

Roll sensor error +
Alignment errors
IMU + MB
Angle meas error:

Beam across
width error (Am-
plitude/Phase)
RESON 7k multibeam sonars provide a real-time uncertainty value per beam which is fed in-
to the error mode and used to compute the range error.
5. Standard deviation sensors and measurements

The standard deviations for the measurements contributing to the total error are either a-
priori values conform equipment manufacturer’s specification or real-time provided values
that are part of the output message. Each external sensor has a dedicated driver that con-
tains the specific a-priori values which are automatically overridden when real-time values
are available. This way the operator gets the right values automatically when adding equip-
ment drivers to his vessel configuration and no errors can be introduced by having to fill in
separate forms.
PDS2000 provides default values for all parameters, when for a sensor more detailed infor-
mation is available that will be part of the driver and automatically loaded.
3
Revision: 4
Device Parameter Description Unit

Positioning Sdev of xyz Standard deviation for m
offset the antenna offset
measurement. For off-
sets measured by tape
and offsets measured
by theodolite typically
different values are
used
Compass Sdev of com- Standard deviationof deg
pass heading measurement.
Typically the value as
provided by the manu-
facturer
VRU Sdev of xyz Standard deviation for m
offset the VRU device offset
measurement
Sdev of roll Standard deviation for deg
and pitch the alignment in the
alignment horizontal vessel plane
Sdev of head- Standard deviation for deg
ing alignment the alignment with the
along axis of the vessel
Sdev of fixed The heave error is de- m
heave fined by two parame-
Percentage of ters. The largest of the %
heave variable two is used in the error
error model. The second
one, percentage of
heave variable error, is
a variable one. So with
large heave values this
error may exceed the
fixed error
Sdev of Roll Standard deviation of deg
roll measurement
Sdev of Pitch Standard deviation of deg
pitch measurement
Multibeam Sdev of pitch Error introduced by deg
stabilisation pitch stabilization in
the multibeam. Only
effective when feature
is enabled
Sdev of water Standard deviation of m
level tide measurement, on-
ly used when tide cor-
rection is used
Depth Sdev of dy- Typically the error m
sensor namic draft caused by the squat of
the vessel
4
Revision: 4
Not all parameters affect the total error at the same time. Depending on the equipment con-
figuration and the use of RTK or tide for depth reduction some parameters will not be used in
the error model. E.g. when working in RTK mode, dynamic draft is part of the measurement.
6. Real-time TPE display

TPE values can be displayed graphically in real-time. Two multibeam QC displays are added.
- Two pane display with graph of horizontal and vertical errors
- Three pane display combining multibeam profile and the error graphs
The TPE graphs can be shown together with the selected IHO order (part of the multibeam
properties)
5
Revision: 4
7. TPE as multibeam filter

Two multibeam filters are available that use the TPE values. They are available in real-time
and during processing.
- IHO error. Horizontal and vertical error are compared with the selected IHO order (95%
confidence level). If one of the two exceeds the IHO level, the beam is rejected
- Custom error. The vertical error is compared with a user defined value and the beam is
rejected when that value is exceeded.
The table below lists the parameters used in PDS for the supported orders. They are based
on S44-5th Edition 2008 and Nederlandse normen voor Hydrografische opnemingen 1st Edi-
tion 2009 – Erratum table 1
Order TPE Horizontal TPE Vertical
IHO Special Order 2m. a=0.25m
b=0.0075
IHO Order 1 5m + 5% of depth a=0.5m
b=0.013
b=0.023
(S44 4th Edition) b=0.023
NL Norm A 0.35 + 1% of depth a=0.1m
b=0.0075
6
Revision: 4
8. TPE analysis
The PDS Processing module now includes a tool that allows a more detailed analysis of the
TPE computation. With this tool the detailed results of a TPE computation for the selected
ping can be exported to a text file.
This file contains the standard deviations used for the TPE computation and the Horizontal
and Vertical errors split out to the individual error contributions.
RESON provides a an Excel sheet capable of loading the TPE text file and visualizing the TPE
results as tables and graphs. The sheet is called TPEview.xslm and can be found in the in-
stallation folder of your PDS2000 version.
The dialog to generate the output file. The

dialog allows for two selections
- Selection of error model mode
CUBE implementation = horizontal error
Location of tool in Tools menu without fore-aft beamwidth error
CHS implementation = including fore-aft
beamwidth error
- Use Multibeam Uncertainty, when un-
checked the range error is computed.
When checked the real-time uncertainty
value is used.
7
Revision: 4
To be able to compare results with the error

model implementation used as a reference
(MEET) configure the dialog as below
This is where the TPE results files can be

found
This will force the error model computation

to include the fore-aft beamwidth error and
compute the range error
Example of Depth error graph from TPEview Example of Position error graph from TPE-
view
Example of Depth error table from TPEview

Example of Position error table from TPEview

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Reference: PDS2000 – TPE implementation for Version 3.7.0.

The CUBE (Concurrent Uncertainty Bathymetric Estimator) algorithm is developed by the

2. Error model background

GPS Horizontal Vertical

Horizontal error – diagram

Swath Per beam

Total Latency er- Angle meas error + Total pitch error :

Angle meas error:

Vertical error - diagram

Swath Per beam

Base roll error:

Angle meas error:

5. Standard deviation sensors and measurements

Device Parameter Description Unit

6. Real-time TPE display

7. TPE as multibeam filter

The dialog to generate the output file. The

To be able to compare results with the error

This is where the TPE results files can be

This will force the error model computation

Example of Depth error table from TPEview

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