how to get back velocity on each beams with bin2mat

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how to get back velocity on each beams with bin2mat

Posted by Camille Couzi at February 01. 2011


I am using bin2mat to process my current data (which are generally Aquadopp Profiler files (*.prf) ).

When I convert my .prf data into a .mat data using bin2mat, among all the variables in output there are:

-    Vvel1        Velocity (m/s)              NumCells x NumSamples
-    Vvel2        Velocity (m/s)              NumCells x NumSamples
-    Vvel3        Velocity (m/s)              NumCells x NumSamples

-    coordsystem  Coordinate system (ENU / XYZ / beam)       (for me it is ENU)

-     transmatrix  Transformation matrix


And there is this explanation in the READ ME file:

___1 / ___2 / ___3 means X/Y/Z, E/N/U or beam1/beam2/beam3, depending on 'coordsystem'.


So if I understand right, Vvel1=velocity EAST, Vvel2=velocity NORTH, and Vvel3=velocity UP.

Now, I would like to get back the velocities on each of the 3beams.

If I inverse the transformation matrix (let's call it M) and I calculate Vb1, Vb2 and Vb3 like that:

(writing N=inverse(M) )





Is that rigth?

Thanks in advance for your help... Have a nice day!



Re: how to get back velocity on each beams with bin2mat

Posted by Jonas Røstad at February 01. 2011

Dear Camille,


ENU measurements are not just a function of the beam velocities, but also tilt (pitch and roll) and heading.

Please have a look at where this is discussed and matlab scripts are available.

Please tell me if there answer isn't to be found there.

Best regards

Jonas Røstad


Re: how to get back velocity on each beams with bin2mat

Posted by Camille Couzi at February 01. 2011

Dear Mr Rostad,

Thanks for your reply, I was just reading that script, and was going to post a second message with a question, so here it goes:

As I can understand this script has been made for a fixed installation of the instrument (ie it doesn't move during the measurement, so pitch, roll and heading values are absolutely constant all along the measurement, isn't it?

I ask that because the measurements I want to process have been taken with an instrument that has been installed at "middle water" (sorry for my bad english), I mean it has been attached to a cable a a depth X, looking upward (so with floating buoys). That is to say, my instrument is moving all along the measurement time, so my heading, pitch and roll values are NOT constant, I get different values for each time measurement.

So if I modify a little bit your script in order to make the transformation ENU => beam velocities, that gives:


%%%%%%%%%%BEGINNING OF THE CODE%%%%%%%%%%%%%%%%%%%%

MT=transmatrix; %transformation matrix

MT = MT/4096;   % Scale the transformation matrix correctly to floating point numbers

if orien==0               % orientation downwards
   MT(2,:) = -MT(2,:);  
   MT(3,:) = -MT(3,:);  

% heading, pitch and roll are the angles output in the data in degrees


ns=length(Vheading);      %number of samples

for i=1:


    hh(i,1) = pi*(Vheading(i,1)-90)/180;

    pp(i,1) = pi*Vpitch(i,1)/180;

    rr(i,1) = pi*Vroll(i,1)/180;


% Make heading matrix

H(:,:,i) = [cos(hh(i,1)) sin(hh(i,1)) 0; -sin(hh(i,1)) cos(hh(i,1)) 0; 0 0 1];


% Make tilt matrix

P(:,:,i)= [cos(pp(i,1)) -sin(pp(i,1))*sin(rr(i,1)) -cos(rr(i,1))*sin(pp(i,1));...

      0             cos(rr(i,1))          -sin(rr(i,1));  ...

      sin(pp(i,1)) sin(rr(i,1))*cos(pp(i,1))  cos(pp(i,1))*cos(rr(i,1))];


% Make resulting transformation matrix

R(:,:,i) = H(:,:,i)*P(:,:,i)*MT;


R_inv(:,:,i) = inv(R(:,:,i));

for j=1:size(Vamp3,2)


  %velocity along beam1

    Vb2(i,j)=Vvel1(i,j)*R_inv(2,1,i)+Vvel2(i,j)*R_inv(2,2,i)+Vvel2(i,j)*R_inv(2,3,i);  %velocity along beam2

    Vb3(i,j)=Vvel1(i,j)*R_inv(3,1,i)+Vvel2(i,j)*R_inv(3,2,i)+Vvel2(i,j)*R_inv(3,3,i);  %velocity along beam3




%%%%%%%%%%END OF THE CODE%%%%%%%%%%%%%%%%%%%%



Is that correct?

Re: how to get back velocity on each beams with bin2mat

Posted by Camille Couzi at February 01. 2011

Sorry for the smiles !!!!

it was:

MT(2,:) = -MT(2, : ) ;  
MT(3,:) = -MT(3, : ) ;

Re: how to get back velocity on each beams with bin2mat

Posted by Camille Couzi at February 01. 2011


MT(2,: ) = -MT(2,: ) ;  
MT(3,: ) = -MT(3,: ) ;

Re: how to get back velocity on each beams with bin2mat

Posted by P.J. Rusello at February 02. 2011

Hi Camille,

I haven't followed all of your math through to check it, but it sounds like you have the right idea. Each time the heading pitch and roll are updated, you'll need to recalculate the transformation matrix. Check the link Jonas provided and the associated matlab script for all these calculations are done in Matlab. Transformations come up quite a bit on the forums so also do a quick search and you'll find various posts on this topic.




Re: how to get back velocity on each beams with bin2mat

Posted by Jonas Røstad at February 03. 2011
Dear Camille,
Without running the code it looks OK. My only comment is that the transformation matrix found in the .hdr file most likely is scaled already.
Best regards
Jonas Røstad

Re: how to get back velocity on each beams with bin2mat

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