Automatic Estimation of Boresight Angles Between IMU and Multi-Beam Echo Sounder Sytems

Abstract

This paper present some methods for automatic boresight and latency calibra-tion for Multi Beam Echo Sounders and Inertial Measurement Units. The approach is based on the analysis of overlapping data and the resolution of surface matching problems. Surface patches and data are selected in order to guarantee the observ-ability of the effet of boresight and latency. These methods are intended to replace the classical patch-test by full automatic 3D calibration methods.