Example for reprocessing of USBL data.

The TowFish is positioned by the two transponders TP81 and TP82.

Figure 1 The TowFish which is positioned by the two individual transponders TP81 and TP82 are used as an example. 


It is possible to process the navigation in at least two different ways, which are sketched below.
Option 1 is to process the USBL data, option 2 is to process the navigation.

If you double-click on one of the transponders constituting the combined object, you can choose between the two options. 

Figure 2 Choose between a recalculated new position or the active position. And choose the weighting of different instruments.


It is also possible to choose different weightings as shown on Figure 2. 


The following is valid for option 1 and option 2:

If you choose to recalculate the USBL on the TP81 transponder, all depending object will be selected for re-computation. 

When you activate Recalculate USBL a new Bathy and Navigation sensor will be created (for each of the selected objects): 

Option 1 - Processing the USBL data 


Processing the USBL by (cleaning/de-spiking/editing and) recalculating the USBL.

Figure 3 Before de-spiking (or other cleaning)


Spike detection: 

Figure 4 During spike detection 

Save and do a Recalculate USBL from the NaviEdit JobPlanner, and the Navigation is recalculated:

Figure 5 Opening the DataEditor again on the recalculated object 


When the TowFish only is selected for recalculation, the number of objects being recalculated depends on the position usage setting for TP81 and TP82 as shown in Figure 1 and Figure 2. If Use an auto recalculated new position is selected for both these objects, both the TowFish, TP81 and TP82 are recalculated (Option 1). 


Option 2 - Processing the Navigation data

If it is found easier to process the Navigation data rather than the dynamic offset vectors, the position usage setting should be set to Use the active position for the individual components of the combined objects.

Then the navigation view should be filtered/cleaned for the TP81 and TP82 transponders.

Figure 6 Cleaning of the Navigation for one of the transponders

The result of recalculation (still named USBL recalculation in the JobPlanner) of the TowFish is that just one object is recalculated:

Update standard deviation action


One of the purposes of the Update standard deviation action is found in the Option 2 scenario where the USBL vector is not used.
However, the weighting of the individual transponders can still be set.
If the position usage is set to Use the active position and the weighting parameters are changed for the individual transponders constituting the TowFish object, you will need to activate the calculate standard deviation action on the TP81 and TP82 objects before a recalculation of the Towfish position will use the new changed weighting options (see Figure 7). 

Figure 7 Changing weighting for individual transponder