A Deterministic and Random Error Model for a Multibeam Hydrographic Sonar System

The expanding and increasing affluent world population has brought about a growing need for commodities and energy on a global scale. Two major marine activities affected by this are shipping and mining. The shipping industry, because of its up to 30 meter draft superships, and the mining industry (particularly the hydrocarbon sector), both require timely and accurate bathymetric charts for safe and economical operation. To meet these needs the Bathymetric Swath Survey System (BS³) is being developed. The BS³is a 21 beam mapping sonar designed to accurately and efficiently portray the seabed directly beneath and to the port and starboard side of an underway hydrographic ship. This paper examines the effects of four major inherent error sources on system accuracy. These sources are uncompensated ship roll, sound velocity errors, pulse stretching and noise.