Bathymetric Processing Tutorial

EIVA POST-PROCESSING SUITE

NaviEdit – NaviModel3 - NaviPlot

February, 2012
 Bathymetric Processing Tutorial

8-10 Teglbækvej
Bathymetric Processing Tutorial DK-8361 Hasselager – Aarhus,
Denmark

EIVA POST-PROCESSING SUITE Tel: +45 8628 2011

Fax: +45 8628 2111
NAVIEDIT – NAVIMODEL3 - NAVIPLOT e-mail: [email protected]
Web: www.eiva.dk
February, 2012

2 Second Revision Lars Dall Various 03/02/2012

1 First Revision Lars Dall Various 16/05/2010

0 First Edition, Introducing NaviModel3 Lars Dall Various 31/03/2010

Revision Description By Checked Approved Date

Key words: Classification

Hydrographic Surveying, Post-processing, Charting Open

Internal

Proprietary

Distribution No of copies
N/A N/A N/A

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CONTENTS

1. INTRODUCTION............................................................................................................... 8
1.1 The Data-acquisition Phase .......................................................................................... 9

2. POST-PROCESSING WITHIN NAVIEDIT....................................................................... 11

2.1 General Introduction to NaviEdit ................................................................................. 11
2.2 Common Tools ........................................................................................................... 13
2.2.1 The File Menu ............................................................................................... 14
2.2.1.1 Multiple Tides ........................................................................................... 15
2.2.2 NaviEdit Toolbar ........................................................................................... 16
2.2.3 The Explorer Panel/Tree View ...................................................................... 17
2.2.4 The List View ................................................................................................ 18
2.2.5 Planview ....................................................................................................... 19
2.2.6 Reading data into the database .................................................................... 21
2.2.7 Header Editor................................................................................................ 22
2.2.8 Data Editor .................................................................................................... 29
2.3 Feasible Method, Multi-beam Data ............................................................................. 41
2.3.1 Import of raw Multi-beam data....................................................................... 41
2.3.2 Using the ASCII-interpreter ........................................................................... 45
2.3.3 Utilizing the Header Editor ............................................................................ 53
2.3.4 Utilizing the Data Editor................................................................................. 57
2.3.4.1 Coarse editing .......................................................................................... 57
2.3.4.2 Detailed editing......................................................................................... 58
2.3.4.2.1 Editing of Scans ................................................................................................... 59
2.3.4.2.2 Editing of Navigation Data ................................................................................... 68
2.3.4.2.3 Batch Processing ................................................................................................. 70
2.3.4.2.4 Kalman Filtering ................................................................................................... 73
2.3.5 Exporting NED-files....................................................................................... 78
2.4 Feasible Method, Single-beam Data ........................................................................... 80
2.4.1 Import of raw data via the NaviPac interpreter .............................................. 80
2.4.2 Tidal data ...................................................................................................... 83
2.4.3 Utilizing the Header Editor ............................................................................ 83
2.4.4 Utilizing the Data Editor................................................................................. 86
2.4.4.1 Detailed Editing ........................................................................................ 87
2.4.4.1.1 Editing of Navigation Data ................................................................................... 87
2.4.4.1.2 Editing of Single-beam Data ................................................................................ 89
2.4.5 Exporting ASCII XYZ-files ............................................................................. 91
2.5 The NaviEdit Flow ...................................................................................................... 94

3. POST-PROCESSING WITHIN NAVIMODEL .................................................................. 95

3.1 General Introduction to NaviModel.............................................................................. 95

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3.2 Common Tools ........................................................................................................... 97

3.2.1 The NM3 Menu-items.................................................................................... 97
3.2.1.1 The ‘File’ menu ......................................................................................... 97
3.2.1.2 The View menu ...................................................................................... 101
3.2.1.3 The Tools menu ..................................................................................... 109
3.2.1.4 The Help menu ....................................................................................... 116
3.2.2 The NM3 Toolbars ...................................................................................... 122
3.2.2.1 The ‘NM3 Standard’ toolbar .................................................................... 122
3.2.2.2 The ‘Video’ toolbar ................................................................................. 123
3.2.2.3 The ‘Camera’ toolbar .............................................................................. 124
3.2.2.4 The ‘Goto’ toolbar ................................................................................... 124
3.2.2.5 The ‘Pipe’ toolbar ................................................................................... 124
3.2.3 The NM3 Windows ...................................................................................... 125
3.2.3.1 The DTM window ................................................................................... 126
3.2.3.2 The Project Tree window ........................................................................ 128
3.2.3.3 The Object Properties window ................................................................ 132
3.2.3.4 The Job List window ............................................................................... 133
3.2.3.5 The Log window ..................................................................................... 134
3.2.3.6 The History window ................................................................................ 135
3.2.3.7 The KP Axis window ............................................................................... 135
3.2.3.8 The Long Profile window ........................................................................ 137
3.2.3.9 The View Settings window ...................................................................... 139
3.2.3.10 The Video windows ................................................................................ 142
3.2.3.11 The Event window .................................................................................. 144
3.2.3.12 The Point Cleaning Toolbox ................................................................... 145
3.3 Special Functions & Methods ................................................................................... 148
3.3.1 Model Types and Interpolation Methods ..................................................... 149
3.3.1.1 Geometry Types ..................................................................................... 149
3.3.1.1.1 TRN Modelling ................................................................................................... 149
3.3.1.1.2 TIN Modelling ..................................................................................................... 151
3.3.1.1.2.1 Principles of Delaunay Triangulation ................................................ 152
3.3.1.1.2.2 Special TIN Model Functions ............................................................ 154
3.3.1.2 Interpolation Methods ............................................................................. 155
3.3.1.2.1 Interpolated TRN Models ................................................................................... 155
3.3.1.2.2 TIN Modelling ..................................................................................................... 160
3.3.2 Generating the DTM ................................................................................... 160
3.3.2.1 The Quad Tree Principle ........................................................................ 160
3.3.2.2 Indexing a DTM ...................................................................................... 163
3.3.3 Using Toppings in NaviModel3.................................................................... 166
3.3.3.1 Runlines ................................................................................................. 166
3.3.3.2 Displaylines ............................................................................................ 168
3.3.3.3 Waypoints .............................................................................................. 170
3.3.3.4 Chart Definition Series............................................................................ 173
3.3.3.5 3DS Information ..................................................................................... 175
3.3.3.6 Track information.................................................................................... 177
3.3.3.7 Video Information ................................................................................... 178

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3.3.3.8 Event Information ................................................................................... 178

3.3.4 Cleaning Methods ....................................................................................... 180
3.3.4.1 Point Edit 3D Cleaning ........................................................................... 182
3.3.4.2 Histogram Plane Cleaning ...................................................................... 187
3.3.4.3 Spike Shooting Cleaning ........................................................................ 188
3.3.4.4 S-CAN Automatic Cleaning .................................................................... 189
3.3.4.4.1 The S-CAN Components Variant ....................................................................... 190
3.3.4.4.2 The S-CAN Score Variant .................................................................................. 193
3.3.4.4.3 S-CAN Cleaning During Import of Data ............................................................. 195
3.3.4.4.4 The S-CAN Control Panel .................................................................................. 197
3.3.4.5 Structured Cleaning ................................................................................ 197
3.3.4.6 Un-deletion of Cleaned Data .................................................................. 199
3.3.4.7 Cleaning Reporting ................................................................................. 202
3.3.5 Digitizing Methods....................................................................................... 203
3.3.5.1 New Digitized Line .................................................................................. 203
3.3.5.1.1 Editing the Digitized Line ................................................................................... 204
3.3.5.1.2 Creating Toppings from a Digitized Line ............................................................ 206
3.3.6 Exporting..................................................................................................... 207
3.3.6.1 The ‘Export along Line’ functionality ....................................................... 207
3.3.6.1.1 Generating new template ................................................................................... 211
3.3.6.1.2 Generating New Batch ....................................................................................... 212
3.3.6.2 The ‘Area Export’ functionality ................................................................ 214
3.3.6.3 Special Function for Displayline Export................................................... 217
3.3.7 Contouring .................................................................................................. 219
3.3.7.1 Generating Filled contours...................................................................... 222
3.3.8 Volume & Area Calculations ....................................................................... 223
3.3.8.1 Volume Calculations from a survey object .............................................. 223
3.3.8.1.1 The Volume Report Generator ........................................................................... 225
3.3.8.1.1.1 The General Tab ................................................................................. 225
3.3.8.1.1.2 The Standard Report Tab ................................................................... 226
3.3.8.1.1.3 The Enhanced Report Tab .................................................................. 227
3.3.8.1.1.4 The Report .......................................................................................... 228
3.3.8.2 Volume Calculations from a displayline object ........................................ 230
3.3.8.3 Indirect Volume Calculation .................................................................... 231
3.3.8.4 End Area Volume Calculation ................................................................. 233
3.3.9 TVU Analysis Tool ...................................................................................... 240
3.3.10 The Level Out Functionality ........................................................................ 251
3.3.11 Other Functions .......................................................................................... 251
3.3.11.1 Beam Count Statistics ............................................................................ 251
3.3.11.2 Raw Data Graphs from NE connection ................................................... 251
3.4 Feasible Method, Multi-beam Data ........................................................................... 252
3.4.1 Output from NaviModel3 ............................................................................. 266
3.5 Feasible Method, Single-beam Data ......................................................................... 269
3.5.1 TIN Model comparison ................................................................................ 269
3.5.2 TRN Model comparison .............................................................................. 274
3.5.3 Difference Models ....................................................................................... 279

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3.5.4 Handling the Results of the comparisons .................................................... 280

3.6 The NaviModel3 Flow ............................................................................................... 282

4. POST-PROCESSING WITHIN NAVIPLOT ................................................................... 283

4.1 General Introduction to NaviPlot ............................................................................... 283
4.2 Common Tools ......................................................................................................... 284
4.2.1 The Main Menu ........................................................................................... 285
4.2.2 NaviPlot Toolbars........................................................................................ 287
4.2.3 The Paper View .......................................................................................... 288
4.2.4 Explorer Panel ............................................................................................ 290
4.2.5 Property Panel ............................................................................................ 291
4.2.6 Status Bar ................................................................................................... 292
4.2.7 The NaviPlot Chart Manager ....................................................................... 293
4.2.7.1 Generating *.cdf-files in Imaging ................................................................. 293
4.2.7.2 Loading the *.cdf-file ............................................................................... 295
4.2.7.3 Chart Viewing Modes ............................................................................. 297
4.2.7.4 Properties ............................................................................................... 299
4.2.7.5 The Chart Manager ................................................................................ 300
4.3 Creating a NaviPlot Project ....................................................................................... 301
4.3.1 Starting NaviPlot ......................................................................................... 301
4.3.2 Adding Frames to the project ...................................................................... 302
4.3.3 Adding data to a frame ................................................................................ 304
4.3.3.1 Adding contour curves ............................................................................ 304
4.3.3.2 Adding Bitmap ........................................................................................ 305
4.3.3.3 Adding a runline ..................................................................................... 306
4.3.3.4 Adding grid ............................................................................................. 307
4.3.3.5 Adding North arrow ................................................................................ 308
4.3.4 Creating the Longitudinal Profiles Frame .................................................... 309
4.3.5 Creating the Cross Profiles Frame .............................................................. 311
4.3.6 Creating the Events Plot Frame .................................................................. 313
4.3.7 Adding text .................................................................................................. 314
4.3.8 Creating the Legend ................................................................................... 316
4.3.8.1 Adding Sensor Details ............................................................................ 317
4.3.8.2 Adding Geodesy Information .................................................................. 319
4.3.8.3 Adding the Scale-bar .............................................................................. 320
4.3.8.4 Adding information about Acquisition and Post-processing..................... 321
4.3.8.5 Keyplan .................................................................................................. 322
4.3.8.6 Adding Project Title ................................................................................ 322
4.3.8.7 Adding Revision History ......................................................................... 323
4.3.8.8 Adding Information about Data-acquisition and Post-processing ............ 325
4.3.9 Finalizing the Plot........................................................................................ 325
4.3.10 Utilizing the Chart Lay-out Manager ............................................................ 326
4.3.11 Plotting the chart ......................................................................................... 328
4.3.12 Saving and exporting the project/chart ........................................................ 330
4.4 Feasible Method, Multi-beam and Single-beam Data ............................................... 332

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4.4.1 Design of a Plot Template ........................................................................... 333

4.4.1.1 The Lay-out Manager ............................................................................. 333
4.4.1.2 The XY Frame ........................................................................................ 333
4.4.1.3 The Legend ............................................................................................ 336
4.4.1.3.1 Technical Information ......................................................................................... 336
4.4.1.3.2 Administrative Information ................................................................................. 342
4.4.2 Sequence in Producing the Plot .................................................................. 347
4.5 The NaviPlot Flow .................................................................................................... 350

5. CONCLUSION .............................................................................................................. 351

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1. INTRODUCTION
The purpose of the present Bathymetric Tutorial is to provide a guide to the entire EIVA post-
processing suite. Within the Tutorial, the various post-processing tools are presented and an
impression of the work- and dataflow through the EIVA post-processing suite is thereby
provided. Furthermore the Tutorial proposes exact methods and parameters to be used in
connection with a typical bathymetric/hydrographical processing task when utilizing the suite.
The Tutorial is divided into three main chapters, each related to a distinct level of post-
processing (NaviEdit, NaviModel3 and NaviPlot). Each of these chapters is subdivided into a
general introduction, a presentation of the general tools and finally in a description of a feasible
method to be applied in connection with a bathymetric post-processing task.
Supplementary to this, the manual introduces some of the support tools included in the post-
processing package, such as Imaging. Imaging is used for many purposes, but with post-
processing primarily as a support tool for NaviModel3 and NaviPlot in connection with the
generation of chart definition files (see the frontpage of the Tutorial).
The part of the tutorial that introduces feasible methods for a bathymetric post-processing task is
to be regarded a sequential and dedicated manual, in which the description of the various phases
is given in the sequence that an actual post-processing process is most likely to undertake. The
specific editing parameters and post-processing rules supplied in some of these parts of the
tutorial are given as inspiration to the user: they might as such be relevant in connection with
some projects and not applicable in connection with others. The user is requested to consult the
particular requirements of his specific project in order to define precise and dedicated editing and
processing rules.
Further the degree of detail of the various chapters is intended to reflect the particular
requirements of such a typical post-processing task. Note that additional, more general
information on post-processing is available on the Help-features supplied with the various
programs that constitute the EIVA post-processing suite as well as in the ‘EIVA Training &
Documentation Site’ that can be accessed directly from the Internet or downloaded from the
Download site. In particular, the ‘Offline Tutorial’ supplied on the topic of
NaviEdit/NaviModel/NaviPlot, supplies detailed and relevant information. Also note that the
dedicated part of the manual is matched by the dedicated part of the ‘Online Bathymetric
Tutorial’, that is also available from the ‘EIVA Training and Documentation site’. The project
dealt with is the same in the two tutorials.
Figure 1 below gives the scope of the tutorial. The figure depicts the data-flow through the EIVA
software suite with the on-line part in the upper left corner (NaviPac & NaviScan). The off-
line/post-processing parts in the lower right part of the figure are hence the subject of the manual

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(NaviEdit, NaviModel3 & NaviPlot). Note that the figure on the front-page shows an alternative
approach to the visualization of the flow through the Post-processing suite.

Figure 1 Scope of the Manual (Red box).

1.1 The Data-acquisition Phase

Even though the scope of the manual does not include the online phase, it is necessary, in order
to fully understand the various stages, a typical bathymetric post-processing campaign must
undertake to realize under what conditions the data was acquired. This includes information such
as:
 Specifications of equipment
 Characteristics of the data-acquisition software
 The interfacing between sensors and acquisition hard-/software
 Details of calibration routines
 Survey characteristics (Line-spacing, Survey speed)
 Weather conditions during acquisitions
 Requirements to intermediate processing

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Some of this information is project specific. Other parts, of a more general nature, are mainly
depending on the type of task and software. For a typical bathymetric survey task, however, the
flow within the EIVA online acquisition software can be illustrated as shown in Figure 2.

Figure 2 The NaviSuite Data-acquisition Phase

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2. POST-PROCESSING WITHIN NAVIEDIT

2.1 General Introduction to NaviEdit
The NaviEdit survey data editing software is designed for graphical editing of marine survey
data comprising single-beam echo-sounder and multi-beam echo-sounder data, profiling sonars,
pipe-tracker data etc. as well as all survey-related secondary sensors. Editing of all raw data is
performed on sensor-level. Prior to editing however, the raw data is entered into an SQL
database that constitutes the formal link between NaviEdit and the raw data. In most cases, the
raw data is originating from NaviScan (*.sbd) (multi-beam data) and from NaviPac (*.npd)
(single-beam data).

Figure 3 JobPlanner

The JobPlanner represents the overall user-interface of NaviEdit (see Figure 3). The program
facilitates editing at different levels, editing of header information in the Header Editor, editing
of raw sensor-data in the Data Editor and cleaning of the multibeam data via the
Planview/PointEdit tool as shown at the bottom (left and right) of Figure 3. Editing of header
information includes off-line editing of all on-line settings, such as: geodesy, tidal information,
off-sets etc (see Figure 4).

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Figure 4 The Header Editor

The editing of all raw sensor-data is enabled through a number of possibilities (see Figure 5):
 Zoom (zoom in/out, zoom previous)
 Region (create region/delete (inside/outside) region)
 Spike detection ((wave length, frequency), delete spikes inside/outside region etc)
 Translate (absolute value (factor), with off-set)
 Scale (scale, origin, scale inside/outside region etc)
 Smooth (wave-length, scale inside/outside region etc)
 Delete (delete inside/outside region, delete spikes inside/outside region)
 Settings (Axes (scale), colours, XY-window etc.)

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Figure 5 The Data Editor

The NaviEdit software finally hosts a large variety of exporters that constitute the link to
NaviModel and/or to NaviPlot and that can be taken into use upon completion of a NaviEdit
editing job. These exporters are also accessed from the JobPlanner. Alternatively, NaviModel3
can actually access the NaviEdit SQL-database directly or via a dedicated repository in order to
supplement on the exported data.

2.2 Common Tools

NaviEdit is organized in different panels, toolbars, menus and views that together make the user
interface as visualized in Figure 6. The various items can be listed as follows.
 File Menu
 NaviEdit Toolbar
 Explorer Panel (Tree View)
 List View

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 Planview Editor
 Status Bar

Figure 6 NaviEdit User Interface

The NaviEdit tools are in other words available from the menu, from icons on the icon-bar, from
short-cut keys, from the ‘Explorer Panel’ as wells as from the ‘List View’.
Some of the tools are described in the following dedicated chapters, whereas other are explained
as an integrated part of the overall introduction to the various functionalities of NaviEdit.

2.2.1 The File Menu

The file menu has seven main entries: ‘File’, Import, ‘Edit’, ‘Export, ‘View’, ‘Tools’ and ‘Help’.
Since the majority of the input to NaviEdit is controlled from the Explorer and from the File
Panel, a detailed description of the functionalities will not be found here. A few major ones
should be mentioned:
From the ‘File’ menu, it is possible to manage the SQL-database. Choose menu-item ‘File –
Database – Manage…’ and the window below in Figure 7 will pop up. From here it is possible to
create a new database, to attach an already existing one, to define current database etc. The
‘Database Manage’ is in other words a key functionality in NaviEdit.

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Figure 7 Database Manager

Further from the ‘Tools’ menu, it is possible to perform batch-editing. Choose menu-item ‘Tools
– Batch job…’ to invoke the functionality. Batch editing should be employed in cases where
identical repetitive editing rules must be applied to the survey data. In this case all tedious and
time consuming manual editing can be substituted by this automatic and time efficient editing
method. Further details regarding the batch processing is found in chapter 2.3.4.2.3

2.2.1.1 Multiple Tides

Finally the ‘Multiple Tides’ functionality must be mentioned. Prior to using the functionality, a
series of tidal-files covering the time-span of the datafiles in question must be loaded into the
database. In order for the functionality to work properly, the tidal-files must have a valid
position. Highlight the tidal-files in question and choose menu-item ‘Tools – Create Multiple
Tides…’. The window depicted in Figure 8 will appear.
From here the survey-blocks, to which the multiple tide file should apply, must be selected. Press
the ‘Attach folder (blocks)’ button and choose a folder that contains the files in question.
NaviEdit will choose all files in that particular folder, including any subfolders. A list will appear
in the window. From this list it is possible to deselect files. It is furthermore important to ensure
that the files do not overlap in time.

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Figure 8 Multiple Tides - step 1: 'Select Survey Blocks'

Select to attach the new multiple tide-file to the survey-files by ticking ‘Attach new tide to these
blocks after creation’.
Choose between the ‘Interpolation method’s ‘Linear’ and ‘Spline’. Linear option will weigh the
observations relative to the inverse of the distance between the tidal stations and the survey-file,
whereas the Spline option will weigh relative to the square of the inverse distance.
Finally the ‘Linear options’ offers choices associated with the blind angle stations functionality.
If two stations ‘form’ an angle of less than a given value to the survey-area, the system can treat
this as a blind angle. In this case, and if the ‘Ignore blind angle stations’ option have not been
ticked, NaviEdit will only use values from the closest station.

Figure 9 Define Tide interval

Click ‘OK’ with the required settings on the window and insert a value for the tide-interval in the
window in Figure 9. NaviEdit will now create a new tidal file along with what was defined in
Figure 8 and attach it to the survey-files.

2.2.2 NaviEdit Toolbar

The NaviEdit toolbar hosts the tools visualised in Figure 10. All tools are available from the file
menu as well as from the Explorer and the File panels. A more detailed description of the
functionality of the various tools will thus be integrated in the following.

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Figure 10 NaviEdit Toolbar

2.2.3 The Explorer Panel/Tree View

The Explorer Panel contains information about the contents of the database. In this panel the
hierarchical structure of files and folders of the database are displayed. It is possible to move and
rename files and folders in this panel. By right-clicking on a file or a multiple selection of files, a
menu will furthermore appear. For files, the menu looks as visualized below in Figure 11 left,
whereas the menu looks as given to the right for folders.

Figure 11 File- and folder-menus

For both the List View and the Explorer Panel, the icons displayed reflect the actual contents of
the folder as well as of the file. The most commonly used icons are described below in Figure 12.
The Explorer Panel finally hosts the possibility to view the Report of the file. When a file is first
imported into NaviEdit, a report is generated. Subsequently, when a data item is modified, a note
about this modification is added to the report when the edited data is saved. The report will
consequently hold all information about what editing tools and parameters have been applied to a
file in its existence.

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Figure 12 Icon descriptions

2.2.4 The List View

The List View Panel contains information similar to that of the Explorer Panel. In addition, it is
possible to see the fields that contain information about the status of each of the sensors
contained in a file. In addition date/time, size and start/end KP can be visualised in the field
view. The field view can be modified by employing the menu-item ‘View – Fields…’. The
window in Figure 13 will then appear.

Figure 13 Fields selection.

By default, all fields will be ticked on. Choose the ones that are relevant for the particular
project. This will give a good overview of the present overall status of the editing process. The
status for each field can become one of the following (also see Figure 14 below):
 ‘N/A’ Not Available
 ‘---‘ Available
 ‘OK’ Data has been viewed, but not modified.
 ‘OK+’ Data has been modified and reviewed
 ‘OKb’ Data has been modified, but not reviewed (e.g. in batch-processing)

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Figure 14 Different Field-Statuses

The List View further facilitates sorting of data relative to the contents of a field. Click on a
headline (like ‘Size’) and the entire List View will be sorted according to this entry (see Figure
15 below). Figure 14 is sorted according to name - descending – note grey arrow in headline
pointing upwards, whereas in Figure 15 the sorting is ascending (grey arrow pointing
downwards).

Figure 15 Sorting with respect to size

2.2.5 Planview
In addition, the JobPlanner offers a connection to the Planview Editor in which 3D editing of
scans from a file or a multiple selection of files is facilitated (see Figure 17 and Figure 18). The
3D-based cleaning resembles the ‘Point Edit 3D Cleaning’ facilitated in NaviModel3. See further
details in chapter 3.3.4.1.
Highlight a file or a multiple selection of files. Right-click and choose menu-item ‘Send to –
Planview..’. After a while, the data will appear in the Planview window. Select area to edit by
right-clicking and dragging until the size appears OK. It is possible to move, rotate and change
the size of the area. Press ‘3D Edit..’ to send the data to the 3D editor.
The 3D-based cleaning, in which the user can see small portions, in sequence, of the model area
supports a series of tools that can all be easily accessed from the mouse (including the wheel of
the mouse) or from a single click on a key on the keyboard. The user is given the possibility, on
the basis of the 3D-view, to perform a manual cleaning of areas (Region Eraser (F7)) as well
as of single points (Erase Tool (F6)). It is possible to move the data in the so-called
Navigation mode (F5). In this mode it is furthermore possible to change the scale –
horizontal as well as vertical .

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Figure 16 3D Editor Settings

Finally, the 3D editor facilitates a window in which the settings can be defined and visualized
(see Figure 16). This includes the (vertical) scale, the size of the data-points in pixels and grid-
specific settings. By default, the grid is drawn at the lowest level within the data, but this can be
altered by the user.
Once the editing is finalized, press the ‘Done’ icon and return to the Planview. The next step
will now be to either select a new area for editing or to send the edited data back to database. The
latter is executed by pressing the ‘Save’ button in the Planview Editor.

Figure 17 JobPlanner with Planview Window

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Figure 18 3D Editor

2.2.6 Reading data into the database

Prior to using NaviEdit, it is necessary to create a new database. Start JobPlanner and choose
menu-item ‘File -> Database -> Create’ from the main window. An empty window will appear.
Insert a name for the database and a location, where the database files should be created. Make a
tick-mark in the ‘Use as default’ box as shown below.

Figure 19 Create new database

The program will now create two new database files:

 C:\EIVA\NaviEdit\Database\Multibeam#3.mdf
 C:\ EIVA\NaviEdit\Database\Multibeam#3_log.ldf
These two files hold the database information. The user interface to the database looks at first as
shown below:

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Figure 20 Empty NaviEdit Database

The next step is to read data into the database. For this NaviEdit/JobPlanner has a series of
interpreters. The most commonly used are: NaviPac interpreter (for ASCII-data from NaviPac),
Multi-beam interpreter (for binary NaviScan data (and XTF-data)) and the ASCII interpreter (for
e.g. SVP- and tidal data).
Common for all of these importers is that they are controlled by import wizards that will guide
the user through the import process. More dedicated details for the import process are given in
chapters 2.3.1, 2.3.2, 2.4.1 and 2.4.2.

2.2.7 Header Editor

The Header Editor enables the user to change/edit the more general items associated with a
survey-file. The tools available when opening the Header Editor depends on the relevant data. A
multi-beam Header Editor will differ from a single-beam Header Editor, but also two multi-beam
based Header Editors might have different information obtainable. Having said this however, a
large portion of the information available is common for all types of data.
Right-click on the data (a single file or a multiple selection of files) and choose menu-item ‘Edit
– Header Editor’ to read the data into the Header Editor. For a multi-beam file with one head, the
Header Editor will look as depicted below in Figure 21. It would appear that a series of files have
been read into the Editor.

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Figure 21 Header Editor – Instruments Tab

The first tab to open is the Instruments Tab. Here it is possible to view and to change the settings
for an instrument (by double clicking an item). It is furthermore possible to access offsets, mount
angles (see Figure 22), Time offsets and C-O values. From the instruments pages it is also
possible to switch active sensor (in cases where multiple sensors are available for positioning,
motion etc).

Figure 22 Settings for Multi-beam Instrument (Mount Angles)

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Figure 23 Header Editor - SVP Tab

The ‘Sound velocity’ Tab gives a possibility to define a SVP-file or a series of files for the SVP-
correction of the data. When multiple SVP-profiles are in use at the same time, it is necessary to
specify how NaviEdit should make use of them (‘Selection policy’).
In time based selection mode, NaviEdit matches a profile with the data by absolute time. It is
important that each profile has a proper start time assigned. This mode should be used when
profiles have been collected continuously during a survey.
Distance based selection lets NaviEdit choose from a position-based criterion. The profile must
have a valid position.
‘Use nearest profile’ usage tells NaviEdit to use the nearest profile based on the selection above.
This method might result in 'steps' on the seabed when switching from one profile to another if
the SV has a relatively large variation.
The ‘Interpolate’ usage tells NaviEdit to create a merged profile based on the input profiles and
the selection method. This might produce smoother results. The distance option affects how often
a new profile is generated. Distance can be given in seconds as well as in meters, depending on
the ‘Selection policy’.

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Figure 24 Header Editor - Window Tab

In the Window Tab maximum and minimum values for items like ‘Easting’, ‘Northing’, ‘Time’,
‘Depth’, ‘X from nadir’ and ‘Opening angle’ can be specified. Data outside these values will be
discarded while reading the data.

Figure 25 Header Editor - Options Tab

In the Options Tab the gyro parameters can be set. Normally a gyro will output data relative to
true north and the settings must then be as shown in Figure 25. ‘Position filter’ can be used to
filter outliers in the GPS data. This requires that the raw GPS data have been stored online.
The ‘Use online sound-velocity’ option must be used in combination with an attached sound-
velocity profile (attached to the raw NaviScan-file inside the file). If checked the system will

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override the sound-velocity obtained from the loaded profile with the sound-velocity recorded at
the multi-beam head for the depth-interval stated.
Enable the ‘Use heave’ checkbox to enable/disable the effects of the heave sensor. If ‘Local’ is
selected, then the raw heave will be used. ‘Remote’ on the other hand, will take the raw heave
value and correct it for the effect from the arm between the motion sensor and the echo sounder,
corrected for pitch and roll. The ‘Disable Heave Correction’ option is used to disable the
contribution of NaviPac heave correction.

Figure 26 Header Editor - Geodesy Tab

On the Geodesy Tab, the raw data can be shifted to an alternative geodesy. It is important to
understand that no information regarding the datum shift performed during the survey is
available from this window. Initially the datum shift will always be ‘None’ and the ‘Source’ and
‘Destination’ datum will always be identical.
So, in order to change to an alternative geodesy, this information must hence be obtained first.
On the basis of this information it will then be possible to determine the datum shift required in
order to correct the geodesy.

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Figure 27 Header Editor - Tide Tab

The Tide Tab allows for the selection of one tide table for tide correction of the current block(s).
Press the ‘Select’ button to select a file and remove the link again by pressing the ‘Remove’
button. The tide value will be subtracted from the depths. Note that multiple tides, based on
several tide-files observed simultaneously, can be generated from the JobPlanner main window
(menu-item ‘Tools – Create Multiple Tides…’). Further details can be found in chapter 2.2.1.1.

Figure 28 Header Editor – Multi-beam Tab

The ‘Multibeam echo sounder’ page applies to multi-beam echo-sounders only. Beams contained
in the intervals shown in the ‘Deselected beams’ list will be discarded/deselected. The interval [1
- 5] means that beam 1, 2, 3, 4 and 5 are deselected. It is possible to ‘Add interval’ and to ‘Delete
interval’ from the list. ‘Beam quality threshold’ refers to a number between 0 and 15 that is

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reported by the multi-beam echo sounder. Beams with a quality above or equal to this value will
be used. It is important to understand that no data will be deleted as a result of actions on this
page. These settings are applied while reading. Data that does not live up to the specifications
will therefore not be used.
The ‘TPE Filter’ option is only available if the multi-beam echo sounder in question is capable of
delivering TPE (Total Propagation of Error) information.

Figure 29 Header Editor - Properties Tab

The non editable properties available on the Properties Tab are for information only and cannot
be edited.

Figure 30 Header Editor - Notes Tab

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View and modify notes on the ‘Notes Tab’.

Figure 31 Header Editor - Report Tab

In the Report Tab the report can be viewed and modified. The report is initiated when the file is
imported into the database. Subsequently, when a data item is modified, a note about this
modification is added to the report when the edited data is saved. The report will consequently
hold all information about what editing tools and parameters have been applied to a file in its
existence.

2.2.8 Data Editor

The Data Editor facilitates a series of common, general tools for the sensor data. These tools are
valid for multi-beam as well as for single-beam data but also for other data read into the NaviEdit
environment, such as tidal data and sound-velocity data. The following is a description of these
tools.
Once the data has been read into the Data Editor, a graphical representation of the sensor data
will be available – one window for each sensor. If the windows are overlapping, they can be
arranged by selecting the menu-item ‘Window -> Tile’.

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Figure 32 Data Editor - Windows arranged

All editing tools are available from the overall menu, from the icons or directly from the sensor
window itself.
By right clicking a sensor window, the settings for that particular window can be modified. From
the menu below (Figure 33), the appearance and other parameters of the coordinate system can
be altered.

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Figure 33 Settings Menu & Settings Window – Axis Tab

Figure 34 Settings Window - Color Tab

The colours of the Coordinate system Axis, Graphs, Background, Grid etc. can be
selected/altered utilizing the items on the Colors Tab.

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Figure 35 Settings Window - Data Tab

Selection between multiple sensors is available from the Data Tab shown above. Note that the
upper sensor will be used as reference for the final data in case of redundancy. Furthermore it is
possible to change the properties of each sensor (by highlighting the sensor name and pressing
the ‘Properties..’ button). As a minimum the drawing style properties will then be shown. In
some situations additional properties may be available.

Figure 36 Settings Window - Time Tab

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Figure 37 Before and after time change from relative to absolute time

The time format on the X-axis can be changed from relative seconds (default) to hh:mm:ss
(absolute) by selecting from a drop-down menu (see Figure 36 and Figure 37 above) on the
‘Time format’ tab.

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Figure 38 Settings Window - Translate Tab

From the Translate Tab, it is possible to apply a relative offset to the data, or to apply an absolute
constant value to the data.

Figure 39 Settings Window - Scale Tab

The data can be scaled either by a simple multiplication or by scaling around an origin.
Furthermore a series of different scale methods are facilitated.

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Figure 40 Settings Window - Smooth Tab

The data can be smoothed. A wave length can be inserted – this parameter is used to filter out
high frequency noise from the data. It is recommended to use the lowest wavelength possible to
preserve the quality of the data. Hence, setting the wave length too high might remove important
features in the data set.

Figure 41 Smoothing menu from a Doppler Log window (Vy)

In Figure 41 above the Yspeed-component of a Doppler log appears to require smoothing. Right-
click on the window and select menu-item ‘Smooth – Smooth..’. The window below will appear.

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Choose an appropriate value for the wave length. Study the data and use knowledge about the
speed of the vessel (an ROV in the present case) to arrive at the optimum wave parameter.

Figure 42 Data after smoothing

Figure 42 above shows the data after smoothing. Note that the raw data is still visualized (as
pink) to indicate that it is possible to undo the action. This can be achieved by simultaneously
pressing CTRL-Z or by choosing the menu-item ‘Edit – Undo CTRL Z’. Undo can be
performed from practically all actions/tools until the data is stored in the SQL database.

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Figure 43 Settings Window - Spike Detection Tab

Further the Spike Detection window/tab makes it possible to perform spike detection on the data.
A wavelength and a window size can be inserted (see Figure 43). Data outside this window can
be deleted automatically. The wavelength determines the ‘stiffness’ of the filter – low values
result in a less restrictive filter. The window size is used to set the threshold for points to be
detected as spikes. Finally the ‘Show window’ option will facilitate a graphical display of the
filter operation. This enables the user to visually determine whether the filter settings are correct.

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Figure 44 Spike Detection of Pipe-tracker Data - observe that the filter has detected the apparent spikes

Observe that all windows facilitate the possibility to load or to save default settings in order to
ensure that the settings will be available the next time the window is opened. All editing tools
can be applied to all data, directly from the sensor window or from outside the window. In the
latter case the items are available either from the menu or from icons on the ‘Edit bar’ (see
Figure 45 below).

Figure 45 The NaviEdit Edit Bar

Various zoom modes can be selected by right clicking a window or from the ‘Zoom bar’ (see
Figure 46 below).

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Figure 46 The NaviEdit Scale Bar

Selecting the ‘Create region’ tool facilitates the creation of a region. This is done by a single
click for every corner finishing the region with a double-click. The various editing facilities:
Translate, Scale, Smooth, Delete can be used inside or outside the region (see Figure 47 below).

Figure 47 Region created in the Navigation Window

In addition tools on two other general icon bars are available: the ‘Play bar’ and the ‘Toolbar’
(see below).

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Figure 48 The NaviEdit Playbar

Figure 49 The NaviEdit Toolbar

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2.3 Feasible Method, Multi-beam Data

The overall survey area is subdivided in blocks of 5*5 kilometres that are north/south oriented.
Each of these blocks is again subdivided into cells of 1*1 kilometres, hence a block consists of
25 cells. In practice acquisition (multi-beam as well as single-beam data) is performed by sailing
5 km long lines in a north/south direction, so a full column of 1*5 kilometres is finalised at the
same time. Processing within NaviEdit must however take place on a daily basis with the data
acquired the previous day.
Editing of multi-beam data within NaviEdit is, in the present context, constituted by the
following tasks:
 Import of raw data via multi-beam- and ASCII-interpreter (SV- and tidal files)
 Editing/check of offsets (header-editor)
 Deselecting of beams/beam quality threshold (header-editor)
 Editing/check of geodetic parameters (header-editor)
 Tidal data (header-editor)
 SVP-data (header-editor)
 Rough check of all sensor-data (data-editor)
 Closer look at the navigation data (data-editor)
 Tidal data (data-editor)
 SVP-data (header-editor)

2.3.1 Import of raw Multi-beam data

The first thing to do is hence to import/interpret the multi-beam data. This is done from the
JobPlanner menu-item ‘Import – Multi-beam Interpreter’ as follows:

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Figure 50 Step 1A: press add to enter files

Figure 51 Step 1B: Once the data has been added, press 'Next>'

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Figure 52 Step 2: Choose filter settings (do not deselect beams, choose beam quality 1, apply meridian convergence)

Figure 53 Step 3: Use geodesy from file

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Figure 54 Step 4: Show Report, Edit C-O

Figure 55 Select (and ‘Create’ if applicable) folder

Figure 56 NaviEdit will start interpreting

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Figure 57 Check C-O Values, Mount Angles and Mount offsets

Figure 58 Check Report

2.3.2 Using the ASCII-interpreter

In the present context, the ASCII-interpreter is used to load SVP- and tidal-data into the SQL-
database.
For the SVP-data, the procedure is initiated by activating the JobPlanner menu-item ‘Import –
ASCII-interpreter’:

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Figure 59 SV-import, step 1: Add files - press 'Next>' to proceed

Figure 60 Step 2: Choose 'Data type to import' (SVP) and 'Template' (ATLAS with header) as visualized

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Figure 61 Step 3: Ignore ‘Geodesy’ and press 'Next>'

Figure 62 Step 4: Ignore ‘Header settings’ and press 'Next>'

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Figure 63 Step 4: Apply notes if applicable and press 'Finish'

Figure 64 Select (and ‘Create’ if applicable) folder

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Figure 65 SVP-data in the Header Editor

Take a look at the SVP-data in the Header Editor. Further, upon completion of the SVP import,
the time must be set individually for each of the files (see red arrow in Figure 66). The time will
be the time of acquiring, which can be found in Windows Explorer as the time of the *.ctd-file.

Figure 66 SVP-data in Header Editor

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The procedure for the Tidal-data is very similar to that of the SVP-data. The procedure is
initiated by activating the JobPlanner menu-item ‘Import – ASCII-interpreter’:

Figure 67 Tides-import, step 1: Add files - press 'Next>' to proceed

Figure 68 Step 2: Choose 'Data type to import' (Tide) and 'Template' (PDVSA) as visualized

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Figure 69 Step 3: Ignore ‘Geodesy’ and press 'Next>'

Figure 70 Step 4: Ignore ‘Header settings’ and press 'Next>'

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Figure 71 Step 4: Apply notes if applicable and press 'Finish'

Figure 72 Select (and ‘Create’ if applicable) folder

Upon completion of the tide import, take a look at the data in the Data Editor (see Figure 73
below).

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Figure 73 Tidal data in the Data Editor

2.3.3 Utilizing the Header Editor

The next step is to check and edit the general items of the survey files via the Header Editor.
Invoke the Header Editor by right-clicking on a file (or on a multiple-selection of files) and
selecting menu-item ‘Editors – Header Editor..’:

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Figure 74 Header Editor - Instruments (Offsets, C-O, Mount angles). Check MRU and Gyro Time 0ffset - red circles

Figure 75 Header Editor – check Multi-beam Mount Angle tab (results of most recent Patch Test visualized above)

Figure 76 Header Editor - check Navigation 'Time offset' (0 according to most recent Patch Test)

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Figure 77 Choose SVP-files at 'Sound-velocity/CTD profile' tab. Choose ‘By Time’ as ‘Selection policy’ and
‘Interpolate’ as visualized

Figure 78 Options tab - check that meridian convergence is applied

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Figure 79 Check 'Geodesy'

Figure 80 Choose Tide-file at 'Tide' tab

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Figure 81 ‘Deselected beams’ (1-5 and 98-101) and change ‘Beam quality threshold’ to 15

Once the Operator has finalized the editing to be performed with the Header Editor, he must
press ‘OK’ and accept changes by pressing ‘Yes’ as per dialog visualized below:

2.3.4 Utilizing the Data Editor

As described in chapter 2.2.8, the Data Editor facilitates a number of common tools for the
editing and cleaning of the sensor data. For most bathymetric jobs, the editing can be divided in
coarse editing and detailed editing. Coarse editing is applied to sensors that supply very accurate
and stable data (gyro, RPH etc), whereas detailed editing is typically applied to sensors that are
more vulnerable to noise influences (echo-sounder data, positioning data).

2.3.4.1 Coarse editing

In the Data Editor, a rough check of all sensor data must be performed. By right-clicking on a
file (or on a multiple-selection of files) and choosing the ‘Data Editor’ option, the following
window will appear:

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Figure 82 Select data for Data Editor (by using the ‘Select All’ option)

Figure 83 The Data Editor – Scroll through all files and perform a rough check of all sensor-data

Pay particular attention to the heave, roll, pitch and gyro sensors. They should be stable and with
no sudden ‘jumps’.

2.3.4.2 Detailed editing

Once the coarse check is performed, the detailed editing must be performed. This normally
encompasses editing of Navigation Data and editing of Scans.

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2.3.4.2.1 Editing of Scans

NaviEdit offers three different methods of Scan Editing:
 XT-editing
 Longitudinal Profiles Editing
 Spike Detection Editing
For the current project, it is not recommended to perform editing of the scans at this stage. It has
been established that the NaviEdit XT-editing is relatively time consuming and that is does not
constitute a noticeable improvement to the overall quality of the data. The reason for this is most
likely, that the data is observed in an area with pipes etc. scattered across everywhere, so that the
2D-editing, that the XT-editing tool in NaviEdit can be considered, does not supply suitable
tools. The same is likely to be valid for the ‘Longitudinal Profiles’ editing as well as for the
‘Spike Detection’ editing.
Instead editing must be performed utilising the cleaning tools supplied by NaviModel3. For more
details, see chapters 3.3.4, ‘Cleaning Methods’ and 3.4 'Feasible Method, Multi-beam Data’. The
following description of the NaviEdit scan editing methods can hence be omitted in the actual
case.
XT-editing
Editing of scans can be performed in the Scan-window of the Data Editor in the so-called XT-
mode (cross-track mode). The XT-mode is particularly useful in case of availability of objects
like wrecks, big stones or pipelines – as such the XT-mode is a very useful way of editing the
data if the depth-changes are limited. For pipelines, the XT-mode can likewise be regarded a
useful tool when sailing along the pipe. When sailing across the pipe(s), the method is not
effective.
First select the number of seconds to look into the data. The more the depth changes, the shorter
a period must be chosen. A value of 60s (to be inserted in the ‘Edit depth’ field) is likely to be
useful with a relatively flat, even seabed.

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Then the icon on the ‘Pipe edit bar’ must be pressed in order to initiate the XT-mode:

Figure 84 XT-mode initiated

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Figure 85 XT-mode: Region created

Once the XT-mode has been initiated (see Figure 84), a region must be created around the good
data. Once this is done, press the “Delete outside region” button .
Now either the right arrow button on the keyboard or the ‘Single step forward’ icon on the
play bar must be pressed. As a consequence of this, the program will delete all data outside the
region from 0 to 60 sec. and the next window will appear as visualised in Figure 86 below.

Figure 86 XT-mode: next window appears

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The existing region must be now be deleted , and a new one created, that surrounds the new
data. The next time the ‘Delete outside region’ button is pressed together with the ‘Single step
forward’ icon the program will delete all data outside the region from 60 to 120 sec.
During XT-editing, it is advisable to keep the ‘Navigation’-window open next to the Scan-
window in order to facilitate a simultaneous overall view of the data, as shown below in Figure
87. If the Scans view has been initiated , it will be easier to get an overall idea about what/how
to edit. Remember to press refresh on the Navigation window from the menu-item ‘View –
Refresh’, each time the ‘Delete outside region’ has been pressed, in order to immediately see the
effects of the XT-editing.

Figure 87 Simultaneous view of Scans in navigation window during XT-editing

Longitudinal Profiles Editing

If the depth variation is substantial, it might be decided, that the XT-editing is not suitable.
Instead the Longitudinal Editing Mode could be applied. Once the selected file has been read
into the Data Editor, choose menu-item: ‘View -> Open/Activate View-> Long Profile (time). At
first an empty window will appear:

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Figure 88 Empty Long Profile Window

Right-click in the window, and select ‘Add Profile’. The menu in Figure 89 will appear:

Figure 89 Generate Longitudinal Profile

Choose appropriate settings. An off-track value of 0 together with a window that contains the
entire swath is appropriate under most conditions. Press the OK-button to accept parameters. The
program will calculate a longitudinal profile in the centre of the scans with a width of 10 m (or
the width of the swath) and show it in the ‘Longitudinal Profiles’ window:

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Figure 90 Longitudinal Profiles window with Profile

Now right-click in the window, and select ‘Show Scans’. After this, the window will appear as
shown in Figure 91).

Figure 91 Longitudinal Profile window with Profile & Scans

The next step is to create a region around the ‘non-erroneous’ data as shown below in Figure 92.

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Figure 92 Long Profile window - Region defining the ‘non-erroneous’ data

Right-click in the window and select ‘Delete scan outside region (entire block)’ as shown below:

The following window will appear:

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Also during Longitudinal Profiles editing, it is advised to keep the ‘Navigation’-window open
next to the Longitudinal Profiles window in order to facilitate a simultaneous overall view of the
data (see Figure 93 below). If the Scans view have been initiated , it will be easier to get an
overall idea about what/how to edit. Remember to press refresh on the Navigation window upon
completion of the editing, in order to immediately see the effects.

Figure 93 Simultaneous view of Scans in navigation window during Longitudinal Profiles editing

Note that in the present context, the Longitudinal Profiles Editing has been deemed not suitable.
The data is observed in an area with pipes etc. scattered across everywhere, so that the 2D-
editing, that both the XT- and the Longitudinal Profiles editing tool in NaviEdit can be
considered, does not supply suitable tools.
Spike Detection Editing
Spike detection can be a useful method for the cleaning of noisy scan-data. However, should the
data contain objects on the seabed, like wrecks, large boulders or pipelines, alternative editing
methods must be exploited.
Select the scan window, and right click on it. Select menu-item ‘Spike detection -> Spike
detection’. A menu for inserting parameters for the spike detection will now appear. It is
important to try various combinations of the two parameters, until they match with the data.
Insert a set of parameters, and press the ‘OK’ button.

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After this the ‘Play bar’ will appear as shown below. When the red ‘forward’ arrow is pressed,
the program will search for and go to the first spike.

When the program has identified the first spike it will stop and visualize it in the Scan Window
as shown below. Now press the ‘forward’ and ‘backward’ single step arrow to see if it is a single
spike, or it is an object on the seabed. If it is a single spike, press the ‘Delete’ key to remove the
data (see Figure 94).

Figure 94 Scan Window with single spike before and after deletion

Press the red ‘forward’ arrow in the ‘Play Bar’ again to search for the next spike. If it seems
reasonably certain, that there are no objects on the seabed, right click on the window again, and
select ‘Spike detection -> Delete spikes in all scans’ (see Figure 95).

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Figure 95 Delete Spike menu

NaviEdit will run through all data and automatically remove all spikes detected. Note that this
operation cannot be un-done.

2.3.4.2.2 Editing of Navigation Data

The editing of the navigation data is performed in the Data Editor with the Navigation window
maximized (see Figure 96). Zoom in on the data (by simultaneously turning the wheel of the
mouse and placing the cursor on top of the position to zoom around) until it is possible to
determine each cycle of NaviPac/NaviScan (seen as dots in the window). Once this has been
accomplished, scroll though all data by using the scroll bar to the right, file by file, and check
that there are no outliers, instabilities or data that appear suspicious. Good data will look similar
to what is depicted in Figure 96, whereas an example of unstable positioning can be seen in
Figure 97.

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Figure 96 Editing/check of Navigation Data (reliable data)

Figure 97 Navigation unstable

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When the cleaning/editing of the data is finished, press the ‘Save’ button in order to save the
data in the database.

2.3.4.2.3 Batch Processing

If the navigation data have been observed as being unstable from an overall point of view, it
might be considered to perform a smoothing of the data (this would be the case in the data shown
in Figure 97.
The smoothing is done from the ‘Batch Processing’ facility in the JobPlanner. Select/highlight
the files to perform the smoothing on. Choose menu-item ‘Tools – Batch job’. The following
window will appear:

Figure 98 Batch Processing, step 1. Choose Action by pressing the 'Add'-button

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Figure 99 Batch Processing, step 2. Choose ‘Smooth Points’ and press ‘Next>’

Figure 100 Batch Processing, step 3: Choose sensor ‘Navigation’ and press ‘Finish’

Figure 101 Batch Processing, step 4: choose Wavelength 20s (probably a reasonable parameter under most
conditions)

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Figure 102 Batch Processing, step 5: Press 'Start' to start job.

Figure 103 Batch Processing, step 6: Check that there are no warnings in ‘Message’-field

Observe that the batch-processing can be done with a variety of sensors (as shown in Figure 100
above). At the same time, it is possible to define a multiple set of actions as it appears in Figure
104 below). Further it appears from the same figure, that such a set of actions can be saved and
loaded for reuse in a later batch-session.

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Figure 104 Multiple set of 'Actions' defined

2.3.4.2.4 Kalman Filtering

A special case for Navigation Editing is constituted by the Kalman filtering option, supplied
from the Navigation-window of the Data Editor. The Kalman filtering is a method designed to
improve the overall positioning by employing all available, relevant sensors into the
determination of the horizontal position.
The filtering is especially useful in connection with acoustic positioning systems combined with
a Doppler log. In this case the filtering is capable of improving the positioning quality by taking
advantage of both the relatively high and evenly distributed noise with no drift that characterises
the acoustic positioning and the very low short-term noise and relatively large drift in the
position over time of a typical Doppler system. So by combining a system with a high absolute
accuracy with a system with a high relative accuracy, the Kalman filtering method will arrive at a
positioning with a high absolute accuracy that has a low noise-level. In addition to this the
Kalman filtering will take advantage of information supplied by attitude sensors like gyro etc.
Choose the file-menu ‘Filter – Kalman..’ from the Navigation window of the Data Editor> the
window shown below in Figure 105 will appear.

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Figure 105 Kalman Filter Settings - default (left) and user defined (right)

The definition of the parameters in Figure 105 is given in the table in Figure 107 below.
Further it is possible to perform Kalman filtering on a multiple set of files. In this case a multiple
selection of files must be read into the Data Editor. Once the Kalman function is invoked, the
dialog below in Figure 106 pops up. Choose, by highlighting, to perform Kalman filtering upon a
series of files as one track. For obvious reasons, it is a requirement that the data for Multitrack
selection has been acquired in sequence with no time-gaps in-between.

Figure 106 Multitrack selection for Kalman filtering

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Doppler Quality
Parameter Description Good Bad No Doppler
Mean Position Error The absolute accuracy of the positioning
system. Can be expressed as the
(m)
approximate distance (in m) between an
‘average’ point and a soft curve. Use the
ruler functionality to measure the
distance from the center of the noisy
signal to the edge of the data.
Mean Position Drift The relative accuracy of the positioning
system. Use 0 for normal surface
(m)
positioning. For acoustic systems the
value will, to some extent, be depending
on the depth.
Mean Velocity Expresses the overall accuracy of the Calculate on the Value>0.02 0.01>Value>0
Error Doppler system. For most Doppler set- basis of
up, use a value of 0.02 m/s. The exact specifications of
(m/s)
figure will typically depend on the the system and
number of pings averaged over, the general setup
frequency of the Doppler log, the speed
of the vessel etc.
Mean Velocity Drift The relative accuracy of the Doppler 0 0.1 0.02
(m/s) system. If the result appears too smooth,
increase the number.
Mean Acceleration Acceleration of the vessel. The value is
(m/s2) in most cases unknown, therefore:
- use 0.05 if the speed has been close to
constant
- use up to 0.5 if the speed has been
changed frequently
- use between 0.5 and 1 only for a
surface vessel
- never let the value exceed 1
Figure 107 Definition of Kalman filter parameters

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Figure 108 Raw Navigation (green) and pipetracker data (red)

Figure 109 Navigation Kalman filtered

Figure 108 shows raw navigation and pipe-tracker data prior to applying Kalman-filtering to the
data. It appears that the navigation data is very noisy and the pipe is certainly not straight as it

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would be expected. However once the parameters visualised in Figure 105 (right) have been
applied, the situation looks as shown in Figure 109. Note that not only seems the noise to have
been filtered away from the navigation data, but the pipe has also become straight, thus
substantiating that the filtering has been correct. This is furthermore visualised below in Figure
110 and Figure 111. The visualisations have been generated in Imaging 3D.

Figure 110 3D-visualization of pipe and seabed prior to applying Kalman filtering to the Navigation data

Figure 111 3D-visualization of pipe and seabed after Kalman filtering

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2.3.5 Exporting NED-files

Once edited, the data must be exported for further processing. This is the final step of the editing
inside NaviEdit and is done by selecting the files in question, right-clicking and choosing the
item ‘Export – Binary – Binary (XYZ) (*.Ned)’:

Figure 112 Export NED - step 1

Figure 113 Export NED - step 2

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Figure 114 Export NED - step 3 – Press ‘Finish’ to start exporting.

Figure 115 Export NED - exporting has initiated

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2.4 Feasible Method, Single-beam Data

The single-beam data serve as a Quality Control tool against the multi-beam data. As such there
is no real output from the overall single-beam editing. Bearing this basic requirement in mind,
the editing within NaviEdit consists of the following tasks:
 Import of raw data via the NaviPac interpreter
 Import of tidal files via the ASCII-interpreter
 Editing/check of offsets (header-editor)
 Editing/check of geodetic parameters (header-editor)
 Tidal data (header-editor)
 Tidal data (bathy-depths/predicted tides/observed tides) (data-editor)
 Rough check of all other sensor-data (data-editor)
 Thorough check/editing of single-beam data (data-editor)

2.4.1 Import of raw data via the NaviPac interpreter

Import of raw Single-beam data resembles the import of Multi-beam data. The import is initiated
from the JobPlanner menu-item ‘Import – NaviPac Interpreter’ and look as follows:

Figure 116 Step 1: Press ‘Add' to enter files to the list – then press ‘Next>’

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Figure 117 Step 2: Make Notes, Show Report, C-O

Figure 118 Select (and 'Create' if applicable) folder

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Figure 119 Check offsets, choose correct 'Navigation' - otherwise settings as shown

Figure 120 NaviEdit starts interpreting

Figure 121 Check Report

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2.4.2 Tidal data

The ASCII-interpreter is used to read data into the single-beam database in exactly the same way
it was described in chapter 2.3.2. Note that single-beam data are normally SVP-corrected online.
Therefore, in NaviEdit, only tidal data are read using the ASCII-interpreter.

2.4.3 Utilizing the Header Editor

The next step is to use the Header Editor to edit basic parameters, such as: geodesy, offsets, time
offsets, sensor data etc.
The Header Editor is invoked by right-clicking on a file (or on a multiple-selection of files):

Figure 122 Header Editor - Instruments (offsets, C-O etc.)

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Figure 123 Header Editor – ‘Window’ Tab - use Min/Max ‘Depth’ to filter undesired depths

Figure 124 Header Editor - Check that 'Meridian Convergence' is applied

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Figure 125 Header Editor - Check geodesy

Figure 126 Header Editor - Choose tide-file on 'Tide' Tab

Once the editing is complete, press OK and accept changes by pressing ‘Yes’ as per dialog
below:

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2.4.4 Utilizing the Data Editor

In the Data Editor a rough check of all sensor data must be performed. Highlight a (series of)
file(s) and choose ‘Data Editor’ option:

Figure 127 Select data for Data Editor

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Figure 128 Data Editor, Single-beam Data. Scroll through all files and perform a coarse check of all sensor-data

2.4.4.1 Detailed Editing

Once the coarse check is performed, the detailed editing can commence. This part encompasses
editing of Navigation- and of Single-beam data.

2.4.4.1.1 Editing of Navigation Data

The navigation data has already been checked and edited under the multi-beam editing. The
primary system here is, in principle, identical to the primary system of the NaviPac data (at least
as long as the present split between primary and secondary system is maintained online). The
check to be performed here is constituted by a comparison between the primary and the
secondary navigation system.

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Figure 129 Compare primary and secondary navigation system

Maximize the Navigation window. Right-click on it and choose ‘Settings’. The window in Figure
130 will appear. Check that both systems are visualized under ‘Shown’ and that the ‘GPS1’ is at
the top – this will be the navigation system used in the database, for export etc. The two systems
should, in principle, be identical in the comparison, since what is compared is the calculation
from the antenna to the CRP – for both systems. In Figure 129 it appears, that they are very close
– use the measuring tool if in doubt.

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Figure 130 Settings on Navigation window

2.4.4.1.2 Editing of Single-beam Data

Bearing in mind the primary purpose of the single-beam data, the editing of the single-beam data
is limited to channel 1 (210 kHz) and is performed from the Single-beam window as depicted
below in Figure 131.
The ‘white’ lines shown in Figure 131 reflect the fact, that some of the data have already been
filtered away because of the window-settings (only data between 8 and 30 m are accepted by
NaviEdit as shown in 2.4.3).

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Figure 131 Single-beam Window

The scarce erroneous data can be removed or they can be ‘interpolated’. The results will under
most circumstances be identical. In the present case, where there appears to be adequate data
available, the erroneous data should be deleted. This is done by using the ‘Create Region’ tool
(see red arrow on Figure 132). Choose an appropriate region, right-click on the window and
choose among the editing tools offered as per menu shown in Figure 132.

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Figure 132 Region selected

Once the data is regarded OK, press the ‘Save’ icon in order to save the data in the database and
then excite the Data Editor window. Alternatively, the Editor can be closed, in which case the
user must answer ‘Yes’ to ‘Save changes to Block(s)?’ as per dialog visualised below:

2.4.5 Exporting ASCII XYZ-files

Once edited, the data must be exported for further processing. This is done by selecting the files
in question, right-clicking and choosing the item ‘Export – Ascii – Ascii XYZ (*.xyz)’. Choose
the path as per dialog below in Figure 133.

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Figure 133 Export Ascii XYZ - step 1

Figure 134 Export Ascii XYZ - step 2

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Figure 135 Export Ascii XYZ - step 3 – press ‘Finish’ to start export

Figure 136 Export Ascii XYZ - Choose channel to export - in the present context channel 1 is exported

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2.5 The NaviEdit Flow

For Bathymetric Data, a typical NaviEdit flow can consequently be depicted as in Figure 137
below:

Figure 137 The NaviEdit Flow

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3. POST-PROCESSING WITHIN NAVIMODEL

3.1 General Introduction to NaviModel
The NaviModel3 DTM modelling programme is primarily a tool for the generation of and
manipulation with Digital Terrain Models on the basis of either multi-beam or single-beam
bathymetric data. The modelling is founded on either Triangular Regular Network (TRN) or on
Triangular Irregular Network (TIN) algorithms. The TRN geometry type models consist of
equally spaced triangular cells as opposed to the TIN geometry type models, where the triangles
are based on the raw data which will result in an irregular network not suited for multi-beam data
or for single-beam data acquired with relatively large line-spacing.

Figure 138 NaviModel3

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In addition, NaviModel3 is equipped with a series of dedicated modules that are intended and
designed for specific tasks. These include:
 Online 3D module. This module facilitates visualisation in an online environment in which
various objects can be shown in real time and superimposed on Digital Terrain Model as
well as on other more static objects. When used in connection with a multi-beam setup, the
module supports real time generation of a DTM
 Catenary module that facilitates catenary calculations and visualisations associated with the
TMS & Rigmove module of NaviPac as well as of various associated Pipe- and Cable-
laying activities
 Pipe Inspection Module. The module includes facilities for determination (digitization-
and/or pipetracker based), visualisation and calculations associated with pipe and cable
objects
The following procedures comprise a standard bathymetric modelling process:
 Creation of new model-file through input of bathymetric data. This can be performed by
connecting to the present NaviEdit database and loading files from here or by loading
survey data from files that have been generated in NaviEdit or through the use of third
party post-processing software
 The geometry type must be selected at this stage – either TRN or TIN. Model generation
for TRN will include specification of desired cell size. Depending of the user's selection,
NM3 will generate one or more of the three TRN model types: minimum, maximum and
average
 Input of secondary files (boundary files, runlines, displaylines, digitized lines etc)
 Cleaning of entire TRN model or relative to a boundary file. The cleaning can be
performed utilizing a series of kits that encompass manual, semi-automatic as well as
automatic cleaning tools
 Modification of TIN-model include tools like: manual deletion of triangles, automatic
deletion of triangles with sides longer than a certain value and it includes deletion of
triangles outside a boundary line
 Model analysis of actual versus theoretical models, model manipulation as well as volume-
and area computations
 Generation and manipulation (smoothing) of contours (and contour fillings)
 Generation of bathymetric plot
 Generation of profiles (longitudinal and cross)
Typical output from NaviModel3 is consequently:
 Contour curves (including filled contours), EIVA proprietary as well as AutoCAD formats
based on total DTM or relative to a boundary file
 Georeferenced images of DTM (user selectable colour- and light-settings) based on total
DTM or relative to a boundary file
 DTM in ASCII xyz format in user-selectable matrix, relative to model cells and model
types based on total DTM or relative to a boundary file

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 Raw soundings in an ASCII xyz format based on total DTM or relative to a boundary file
 Longitudinal profiles relative to runline or to other boundary types
 Cross profiles relative to runline or to other boundary types
 Various reports (Volume report, DTM report etc)

3.2 Common Tools

The majority of the NaviModel3 tools are available from the menu, from icons on the icon-bar or
from menus associated with the various windows as visualised below in Figure 139. The figure
shows items for a typical Bathymetry based NaviModel3 user interface.

Figure 139 NaviModel3 items

3.2.1 The NM3 Menu-items

The NM3 main menu has four main entries: ‘File’, ‘View’, ‘Tools’ and ‘Help’. Observe that,
since many of the operations of NM3 are controlled from the different windows and toolbars, not
all functionalities of the software are supported from the menu.

3.2.1.1 The ‘File’ menu

From the ‘File’ menu, it is possible to manage the NM3 project as well as to import the
supported raw files and toppings, either via data exported from NaviEdit or by a series of
dedicated exporters.

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Figure 140 The 'File' menu

 ‘New’ will remove all current data and generate a new NM3 project
 ‘Open Project…’ will open a standard dialogue that facilitates opening of a previously
saved NM3 project. The project file has the extension ‘nmp’ and is an XML-files (see
below) that contains all settings of the project as well as the absolute addresses of the files
loaded onto the project

 ‘Import…’ facilitates importing of toppings through the Import-dialogue visualised below.

From here it is possible to import a series of different topping-types. It is also possible to
define, within the different topping-type, a named import template. The example below
shows an event collection imported with the template ‘ASAS_Visualsoft’. Note that it is
possible to drag-and-drop an entire folder onto to dialogue window. NM3 will import all
files that fulfil the criteria defined (including those in subfolders)

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 ‘Drop/Merge Multiple Files…’ will open the dialogue visualised below left. This import is
associated with the importing of supported bathymetric data (*.ned, *.sdb, *.xyz, *.all etc).
Observe that the files/folders must be dragged-and-dropped onto the dialogue. Once this
has been accomplished, a list of all files contained in the folders (including subfolders), will
appear in the column to the left. It is now possible to enter a filter-value to file-extensions
to be accepted by NM3, by pressing the ‘Filter’ button and entering the desired extension
(see below right). It is also possible to merge the output into one file (by ticking the ‘Merge
files’ option to ‘On’)

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 ‘Connect to NaviEdit’ will connect NM3 to the present NaviEdit database and facilitate
loading of edited bathymetric data (*.sdb, *.xyz, *.all etc) as well as of other information of
relevance. Note that the facility only works if the SQL-server is running (either locally or
on the network). Once the connection is established, a new entry, ‘NaviEdit’, will appear at
the bottom of the tree structure of the ‘Project Tree’ window as depicted below. By right-
clicking on the folder that contains the data that should be added to the present DTM, the
menu shown below middle will appear

o A series of menu-items facilitates import and visualisation of data from the present
NaviEdit database:
'Show all tracks' will show all tracks, without actually loading them into the NM3
project. 'Hide all tracks' in turn will hide the tracks that have been visualized
‘Add survey data...’ option will open a dialogue (see above right) that facilitates
loading of data from that particular folder onto the present DTM. In case there is no
DTM already present in the project, a new will be generated. By exploding the
menu-item in the NE-folder, it is possible to choose to load the files/blocks one-by-
one
'Add track data...' and 'Add pipetracker data...' options will open a dialogues for the
import of track- and pipetracker-data respectively, similar to the one used for the
loading of survey data. By exploding the menu-item in the NE-folder, it is possible
to choose to load the files/blocks one-by-one
'Create Folder' will open a dialogue that gives the user the possibility to generate a
folder in the NaviEdit database
 ‘Save Project’ will save the NM3 project under the present name
 ‘Save Project as’ will open a dialogue that facilitates renaming the NM3 project

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 ‘Auto Save Project…’ will open the dialogue shown below. Here it is possible to define
properties for the auto save of the present project

 'Recent Project' shows a selection list of recent projects. According to the selection, NM3
will open the project in question. An already loaded project will be closed by NM3 prior to
loading the new project
 'Recent Terrain' shows a selection list of recent terrains. According to the selection, NM3
will open the terrain in question onto the project
 'Recent Folders' shows a selection list of recent folders accessed by NM3

3.2.1.2 The View menu

From the ‘View’ menu, it is possible to open the variety of windows that the user interface of
NM3 consists of. The functionality of these windows will be described in detail in chapter 3.2.3,
The NM3 Windows, below.

Figure 141 The 'View' menu

 ‘Project Tree’ will open the ‘Project Tree’ window, visualised below. This window will
show the contents of the present NM3-project, divided into different entries, such as
‘Surveys’, ‘Toppings’, ‘Palettes’, ‘Color modes’, link to NaviEdit etc

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 ‘Object Properties’ will open the ‘Properties’ window that is depicted below. The window
shows the properties and facilitates alteration of the properties of items presently chosen in
the ‘Project Tree’ window. The contents of the window is consequently depending on the
nature of the item chosen

 ‘Job List’ will open the ‘Job List’ window shown below. This window shows the
background processes currently being conducted by NM3. Below left is shown the window

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while importing, whereas the right window shows how it is possible to stop a job by right-
clicking on it and choosing the ‘Stop’ option

 ‘Log Window’ will open the ‘Log Window’ as shown below. The window visualises a
history of all actions being performed by NM3

 ‘Undo/Redo History’ will open the Undo/Redo History window that contains a list of all
actions being performed by NM3 that can be undone/deleted or redone (see below).
Pressing the arrow-left will undo last action, whereas pressing arrow-right will redo last
action (if applicable)

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 ‘KP Axis’ opens the ‘KP Axis’ window as shown below. The window visualises different
KP-based items, such as: runline, pipe information, event information, current cursor
position and current DTM position

 ‘Long Profile’ will open the kp-based longitudinal profile shown below, in which track
information of the ROV is shown together with the pipe information and superimposed
onto the DTM. The pipe information includes the sideflags as well as the pipe itself. The
DTM is shown at the position of the pipe and is as such restricted to the longitudinal extent
of the pipe

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 ‘Settings’ will open the ‘View Settings Window’ that is shown below. The window
visualises and facilitates alteration of the view settings of NM3. The different settings are
divided into headlines/items such as ‘Depth Contours’, ‘DTM (Surface)’, ‘Environment’,
‘Light’ and ‘Raw Points’

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 ‘Video Window’ will open the video windows as shown below. When first opened the
video is not started. But as soon as this is happening, the windows will look as depicted
with NM3 automatically opening the number of video windows present in the data (there
is, in principle, no limit to the number of windows)

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 ‘Event Window' will open the event table window, visualized below. In here the active
event table is shown in what is also known as the EventEdit program

 'Point Cleaning Toolbox' opens the Cleaning Toolbox window that hosts shortcuts to the
different cleaning tools as shown below

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 'Video Toolbar' will open the video toolbar in the toolbar area

 'Pipe Toolbar' will open the pipe toolbar in the toolbar area

 ‘Light setup’ will open the window below from which it is possible to define light settings
by changing the parameters for light-associated items like ‘Azimuth’, ‘Height’, ‘Shininess’
and brightness. Additionally it is possible to choose some predefined settings, such as
‘Shine’, ‘High Contrast’ and ‘Flat Surface’ by pressing the associated button

 ‘Reset Window Positions’ will open the information window shown below. Choosing the
option ‘OK’ will reset the position of the windows to the default values, once NM3 is
restarted

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3.2.1.3 The Tools menu

The tools menu hosts a series of different functions

Figure 142 NM3 Tools Menu items

 'Cleaning Plugins - Edit plugins...’ will open the text-file shown below. The text in the file
describes how it is possible to execute dedicated cleaning tools in NM3. A tool is an
executable file that reads a point file (from NM3) and writes back the (edited) result to the
same file and consequently back to NM3. Note that the cleaning tools listed in Figure 142
above are included as examples only

 ‘Geodesy Calculator...’ opens the window shown below. The tool facilitates conversion
between geographical coordinates and grid coordinates in the datum/projection defined

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 ‘Setup Geodesy...’ facilitates definition of projection and ellipsoid (datum) for the present
project in the dialogue shown below. The parameters are used for instance in connection
with import of *.all files, where the geographical information is given in
latitudes/longitudes, whereas NM3 is using grid-coordinates. The required conversion is
consequently using the geodesy parameters defined here, in combination with the definition
of the datum shift parameters

 ‘Setup Datum Shift...’ facilitates definition of datumshift parameters for the present project
in the dialogue shown below. The parameters are also used in connection with import of
data files, where the geographical information is given in latitudes/longitudes, whereas
NM3 is using grid-coordinates. The required conversion is consequently using the datum
shift parameters defined here, in combination with the parameters for projection and
ellipsoid

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 ‘Measure’ will enable the ‘Measure’ tool shown below. By clicking on the DTM window,
NM3 will determine, accumulate and visualise the distances observed. Press the ‘Esc’
button to exit the function

 'Visual Works XP Checker' is used to import and visualize a VisualWorks csv-file as

shown in the window below. The window is divided in to parts, with the top part showing a
cross-section and the bottom part giving the longitudinal profile. It is possible to toggle
between the cross-sections by using the up and down arrows, whereas the present profile is
visualized in the longitudinal profile part withy a red vertical line

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 ‘Ned Monitor…’ will open the ‘EIVA NedMonitor’ window as visualised below. Initially
the monitoring folder must be defined (by clicking on ‘Options’)

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The action will open a text file (‘nedmonitor.ini’ stored in the NaviModel3 bin-directory)
that contains configuration details, such as folder to monitor, required cell size, items to
export etc, for the NedMonitor tool (see above). Once the settings are as desired, save the
file back to its original location. When minimized the NedMonitor icon will dock among
the other icons in the taskbar (see below), however it will constantly be monitoring whether
or not ned-files are being updated/generated in the monitoring folder. If this is the case, the
tool will automatically generate a georeferenced bitmap as well as gridded ASCII xyz-file
for each of the new or updated ned-files, provided both options have been selected in the
configuration settings.

Above the monitoring tool is shown with an empty queue (left) and with a file in the queue
(right). Further it is possible to monitor the actions being performed by the tool: press the
‘Log’ button and the window below will appear, showing actions since NedMonitor was
last started

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 'File associations' gives the user the possibility to define which file extensions to associate
with NM3, through the use of the dialogue below

 ‘Project Settings…’ will open the ´Project Settings’ dialogue shown below. In here, it is
possible to define various settings associated with the project, such as ‘Pipe Settings’, ‘Pipe
tracker’ settings, ‘Flag Settings’ etc.

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 ‘Options…’ will open the ´Options’ dialogue shown below

Figure 143 Options Dialogue

 ‘Startup Model Type’ specifies the model type to activate when NM3 is started. The
option is only valid if the model type in question has been generated. For pipeline
inspection tasks, the normal model type is ‘Minimized’ whereas it is ‘Average’ or
‘Interpolated Average’ for a bathymetric task. The default model type can be specified
with this setting
 ‘Start NaviModel Maximized’ can be used to define whether or not NM3 should start in
a maximised window when opening the program
 ‘Expand to selection'. Through this functionality the user can define whether NM3
should expand the 'Project Tree' to visualize the item clicked in the DTM window

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 ‘Text Editor’. The path and file name of the default text editor, to be used when sending
various topping information to a text editor, can be defined with this setting

3.2.1.4 The Help menu

The Help menu hosts a variety of entries.

Figure 144 NM3 Help Menu items

 ‘Graphics’ will open the window below, in which the evaluation result of the graphics
driver of the computer is shown relative to the recommended (minimum) settings for NM3

 ‘Release Notes...’ opens, in the default browser, the NaviModel3 release notes html-
document, installed together with NM3. The document contains release notes associated
with all NM3 version released between August, 2007 and the NM3 version installed

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 'Show us a problem...' will open the dialogue below left in which the user is prompted to
run the 'Problem Steps Recorder'. The recorder is a tool, installed with Windows, to
automatically capture the steps taken on a computer, including a text description of where
the click was performed and a picture of the screen during each click. The window to the
right bottom shows the recorder prior to the initiation of the recording, whilst the window
right, top shows the recorder during recording.

Once the users presses the 'Stop Record' button he is prompted to save the file recorded.
The file is a MHT-file, which is basically a HTML-file with images and other media files,
compiled into a single file (MIME HTML or MHTML). The file looks a shown below and
can be used internally for error-detection, but can also be sent to the EIVA support desk to
be used to strengthen a support query

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 ‘Search for Help...’ opens a dialogue that enables Google searches on the EIVA website.
Once the user has typed in his search string and pressed the 'OK' button the default Internet
browser will give the results as shown overleaf

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 ‘Online Training...’ will open the NaviModel3 subpage of the 'EIVA Training and
Documentation' site, in the default Internet browser. The site includes a full compilation of
whatever on-line help, manuals, powerpoints, reports, papers, training documents etc. that
is available for the EIVA software packages as well as for the EIVA hardware

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 ‘Download Site...’ opens the EIVA download site in the default Internet browser. From
here it is possible to download latest official version of the NaviModel software (including
the associated release notes), and indeed of all the NaviSuite software packages. The user
needs to sign up for a logon and password to get access to the site

 ‘NaviEdit Compatibilty Matrix’ will open the window below, in which information about
relationship between the versions of the different NaviEdit SQL database clients is listed
relative to the valid NaviEdit database version. NaviModel3 is such a client, together with
Contour and OnlineQC. The matrix will be updated on a regular basis, or whenever a new
NaviEdit database is released

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 ‘Release Notes Online...’ is the online equivalent to the 'Release Notes' shown above. Here
release notes associated with all NM3 version released since August, 2007 are displayed,
also notes associated with more recent versions than the one installed locally

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 ‘About’ opens the window below, in which information about present NM3 version as well
as of software protection dongle status is displayed

3.2.2 The NM3 Toolbars

NaviModel3 has five different toolbars, all hosted and docked in the toolbar area (see Figure
145):
 ‘NM3 Standard’ toolbar (see Figure 146)
 ‘Video’ toolbar (see Figure 147)
 ‘Camera’ toolbar (see Figure 148)
 ‘Goto’ toolbar (see Figure 149)
 ‘Pipe’ toolbar (see Figure 150)

Figure 145 The NM3 Toolbars

3.2.2.1 The ‘NM3 Standard’ toolbar

Figure 146 The NM3 Toolbar items

The NM3 Standard toolbar is comprised by a number of icons/features:

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 ‘New Project’, ‘Open Project’ and ‘Save Project’ together facilitate standard project file
related actions
 ‘Open Remote Project’ facilitates a link to the Scene Server, and potentially to (NaviPac or
AIS based) projects that are being executed in remote locations, on the network or on the
Internet
 ‘Toggle 2D/3D’ will force the DTM window to toggle between 2D and a 3D based
perspective views
 ‘Align View, North Up’ will force the DTM window to show with (grid) north up
 ‘Light Setting’ will open the ‘Light setup’ dialogue (see chapter 3.2.1.2 above for details)
 ‘Select Palette’ will open the ‘Pick palette’ dialogue
 ‘Toggle Raw Points on/off’ will toggle the visualisation of raw points on and off (when the
‘DrawRawPoints’ option have been set to ‘True’)
 ‘Measure’ will enable the measurement tool
 ‘Fill Secondary’ will fill the secondary cells visually. Secondary cells are cells without
observations that are neighbouring primary cells (cells with observations)
 ‘Fade’ will enable a seamless transition, in terms of visualization/colouring, between cells
 ‘Fly Mode’ facilitates camera movements (of the DTM window) relative to a selectable
runline or pipe-related lines (pipe, flaglines, pipetracker or digitized line). The speed of the
movement can be altered by pressing the + and –buttons next to the icon. Press the ‘Esc’
button (when the DTM window is active) to exit the mode
 ‘New Chart’ generates a new chart at the present view of the DTM window. Charts are
used as the basis for export and contouring
 ‘New Digitization Line’ will initiate the 'Digitize Line' tool

3.2.2.2 The ‘Video’ toolbar

Figure 147 NM3 Video Toolbar items

The Video toolbar is constituted by a number of icons/features (see Figure 147 above), that will
enable scrolling of the video forward and backward as well as to play the present project video.
 ‘Bring Video Here’ will scroll the video to the present view of the DTM
 ‘Scroll Video Backward/Forward’ will scroll the video forward/backward in accordance
with the scrollspeed defined
 ‘Play Video’ will play the video at the speed defined

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 ‘Define Scrollspeed’ enables the user to define forward and backward scrollspeed in
predefined selections between 5 seconds and 5 minutes
 ‘Define Playspeed’ gives the user the possibility to define the playspeed in predefined
selections between 25 and 3200% (of normal speed)

3.2.2.3 The ‘Camera’ toolbar

Figure 148 NM3 Camera Toolbar item

The Camera toolbar has only one item (Figure 148), that will enable adding a camera position of
the present view. The frame will be added to the Camera entry of the 'Project Tree' window. This
can subsequently be used to automatically move between these pre-defined locations within the
model.

3.2.2.4 The ‘Goto’ toolbar

Figure 149 NM3 GoTo Toolbar items

The NM3 GoTo toolbar is constituted by a four icons/features (see Figure 149 above), that
facilitate moving/stepping forward and backward in the DTM, relative to KP-values of a runline.

3.2.2.5 The ‘Pipe’ toolbar

Figure 150 NM3 Pipe Toolbar items

The NM3 GoTo toolbar contains five icons/features (see Figure 150 above), that will enable
digitizing of a pipe (with or without cover) as well as generating a pipe-item relative to pipe
information available in the NM3-project. These functionalities can also be accessed from the

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‘Project Tree’ window, by right-clicking on the ‘Digitized Lines’ entry and choosing the
appropriate menu-item.
In addition two functions reside on the Pipe toolbar:
 ‘Snap to Pipe’ is a function that when enabled will make the digitization snap to the pipe in
the DTM (or in the scans) whenever it is exposed
 ‘Automove forward’ facilitates forward movements of the DTM/camera position during
digitization

3.2.3 The NM3 Windows

Figure 151 NaviModel3 at start-up

When NaviModel3 is first started from the windows start menu, it looks as shown above in Figure
151. By default, the ‘Project Tree’ and ‘Object Properties’ windows are opened on the left and the
Log window is opened at the bottom. Each object in the project tree has its own set of properties,
with contents depending on the type of the object. From the ‘View’ menu, it is possible to open
additional windows, such as:
 The Job List window

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 The Log window

 The History window
 The KP Axis window
 The View Settings window
 The Video window
 The Event window
 The Point Cleaning Toolbox
It is furthermore possible to reset all windows positions, by choosing menu-item ‘View – Reset
Window Positions’. The windows can float freely inside NaviModel3. They can be docked to the
edges of the windows, or they can float onto a secondary screen if one is present. The window
setup is stored as an XML-based configuration file in the NaviModel3 bin folder (layout.config),
so all settings are consequently and automatically remembered and used the next time
NaviModel3 is started.
The windows that must typically be opened for a bathymetry based NaviModel3 job could look
as visualised below in Figure 152 (compare to Figure 139 above).

Figure 152 NaviModel3 windows for a bathymetry post processing task

3.2.3.1 The DTM window

Irrespective of which NaviModel3 application is being executed, the information visualised in
the DTM window must be regarded an indispensable part of the process. A DTM window for a
typical bathymetric post-processing task is visualised below in Figure 153. Observe that the

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majority of the items shown on the figure are described in detail in chapter 3.2.3.9, The View
Settings window, below.
In the figure, the principal item is the colourcoded terrain model, the DTM. In addition and in
support of this, a series of entries have been visualized:
 The Contour Curves (in the present context with an interval of 1m)
 The Live Contours (also with an interval of 1m)
 The Legend that, in the present context, shows the information about runlines and tracks
loaded
 The DTM palette
 The Raw Points, that are visualised relative to the depth
 The Statistical Information associated with the Raw Points item
 The North Arrow that shows the orientation of the DTM, relative to grid north
 The axis of the Target Position (the camera position), including the length of the axis-
arrows
 The information related to the Target Position (the information includes date/time, KP,
Easting, Northing and depth)
 The Track associated with video information
 The Profile Grid visualized around the Target Position
Other items that might be visualized in connection with a bathymetric post-processing task could
be:
 Display line(s), defining boundaries of an area
 Pipe information
 Information from AutoCAD file(s)
 Additional DTMs/Surveys
 Runline(s)
 Digitized lines
 Events
 Static Objects (waypoints)
Additionally, the DTM, that in Figure 153 is colourcoded relative to the depth, might be coloured
relative to some other attribute, such as:
 Density
 Slope
 Cleaning status

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Figure 153 The DTM window, visualised

3.2.3.2 The Project Tree window

The ‘Project Tree’ window is used to visualize the contents of the present NM3 project. The
contents are sorted in a number of headlines, such as ‘Surveys’, ‘Toppings’, ‘Palettes’, ‘Colour
modes’, 'NE' (when linked to the present NaviEdit database) etc. Furthermore a large variety of
functions are available from here: by right-clicking on the different entries, the associated menu-
items will appear as it is visualized as an example below, in connection with the present survey,
Processed_NED.db.

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Figure 154 The Project Tree window, Survey menu

In Figure 155 below, all the major entries/headlines (Events, Videos, Track) have been exploded
and explained.

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Figure 155 Project Tree Window, explained

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The different entries/headlines in the ‘Project Tree’ are as follows (note that the sequence and the
actual contents might be different from project to project):
 NM3 Repository Name: Displays the repository name (for future use)
 3D Model Manager: lists all 3DS objects loaded into the project
 Project: Shows the name of the present NM3 Project
o Surveys: List all surveys/DTMs currently loaded into NaviModel3. Several DTMs
can reside in NM3 simultaneously. Right-click on one of the DTMs will invoke the
surveys menu
 Source files: lists source files for each DTM currently loaded into NM3
 Regions: lists cleaned and filtered regions for each DTM currently loaded
into NM3
 Filtered regions: typically associated with 1st step of the S-CAN cleaning
 Cleaned regions: lists all cleaning entries associated with all methods. NM3
will maintain a sequence of cleaning actions, starting from 1
o Toppings: list all toppings currently loaded into NM3
 Runlines: lists runlines currently in the project. Right-click on the entry to
invoke the runline menu
 Digitized Lines: lists lines created using the digitizing tool in NM3. Right-
click on the entry will invoke the digitizing menu
 Pipe tracker: lists pipe tracker information currently loaded into NM3
(subentries: files, ranges, pipe fixes). Right-click on the entry to invoke the
pipe tracker menu
 Pipes: lists all pipes currently in the project. Right-click on the entry to
invoke the pipe menu
 Events: lists event information currently loaded into NM3. Right-click on
the entry to invoke the events menu
 Videos & tracks: lists all videos with associated tracks currently residing in
NM3
 Displaylines: lists displaylines currently in the project. Right-click on the
entry to invoke the displaylines menu (not present in Figure 155)
 Contours: lists contours currently in the project. Explode the entry to see all
contour-lines for each contour set. Right-click on the entry to invoke the
contour menu (not present in Figure 155)
 AutoCAD: lists AutoCAD information currently in the project. Right-click
on the entry to invoke the AutoCAD menu (not present in Figure 155)
 ESRI shape: lists ESRI shapes currently in the project. Right-click on the
entry to invoke the ESRI shape menu
o Static Objects: lists all static objects currently loaded into the project. These could
be associated with a waypoint
o Camera: shows a list of all camera position defined in the project. Typically these
have been generated with the camera tool (see chapter 3.2.2.3 for details)

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o Online: shows information associated with NM3 being used as an online 3D

visualisation tool (Online 3D version of naviModel3), potentially in connection
with the NaviCat application. Alternatively the Online entry can be used in
connection with the execution of offline eventing
o Profiles: shows information associated with profiles currently in the project,
typically generated on the basis of digitized lines
o Palettes: shows a list of all palettes currently defined in the project
o Color Modes: shows a list of all color modes currently defined in the project
 NaviEdit: the entry is only available if a link to the NaviEdit database has been established
from the File menu
o NaviEdit Explorer Panel: shows the current structure in the NaviEdit database.
Right-click on an entry to invoke the associated menu

3.2.3.3 The Object Properties window

The contents of the Object Properties window will change depending on the item selected the
Project Tree window. Figure 156 below visualizes an explanation to the contents of the window
associated with a DTM (Survey).

Figure 156 The Object Properties window – DTM properties explained

Even though the figure is associated with a DTM entry, many of the items dealt with here are
common for the various ‘Object Property’ types. As is the case with the DTM property panel, the
items have generally been rigorously sorted and, if necessary ordered in headlines, in order to
ease the detection and recognition of the various items included.
One of the guiding principles for the design of NaviModel3 has been to enhance user friendliness
by making the menus, panels as well as the different windows, easy to learn, easy to remember,
efficient to use, understandable and satisfactory to use.

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The different entries/headlines in the ‘Object Properties’ window visualised in Figure 156 are:
 1 General:
o Visible: option used to toggle visible status of the object in question. This can also
be accomplished by right-clicking on the DTM entry in the ‘Project Tree’ window
and choosing option ‘Hide’ in the ‘Survey’ menu
 2 DBSurvey:
o Draw Palette: option used to toggle visible status of palette on the DTM window
 3 Saving/Loading
o External: defines whether or not the model can be saved outside the project path.
Choose 'False' to save the model in the 'Toppings' folder
 4 Surface:
o Model Type: shows presently selected model type. It furthermore facilitates
changing model type from a drop-down-list that shows all currently available types
(average, minimum, maximum and Interpolated average, -minimum and -maximum
(optional))
o Color Mode: shows the color mode of the terrain. A drop-down-list allows
alteration between the ones available (depth, density, slope, cleaned regions,
difference from, kp and intensity)
o Opacity: shows the currently selected opacity of the terrain surface
 5 Model Information (for information only) :
o Path: visualizes the path of the object
o Number of beams: visualizes total number of beams (depths) in the dataset. This
includes deleted beams/depths)
o Cell size: shows the cell size of the model
 Tool Tip Window: shows a dedicated help text associated with the currently highlighted
item

3.2.3.4 The Job List window

The Job List window displays all the background processes currently being conducted by NM3, in
sequence. In general terms, the job listed as the topmost is the one that is currently being
conducted. If a series of jobs are being started simultaneously, the sequence is however not always
that simple as can be seen below in Figure 157 left, that shows the window while importing a
series of bathymetric data. Figure 157 right shows how it is possible to stop an ongoing job by
right-clicking on it and choosing the ‘Stop’ option.
While it is worth keeping an eye on the job list, to monitor the progress, the user should also be
aware that what is being listed is really background processes; it is consequently possible to
continue working with NM3 and to add new processes to an already populated list.

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Figure 157 The Job List window

3.2.3.5 The Log window

The Log window visualizes the history of all actions being performed by NM3 since the last time it
was started (see Figure 158 below). This includes, as can be seen in the figure, output from some of
the NM3 functions, such as cleaning functions conducted from the ‘Cleaning Toolbox’, as well as
actions related to the link to NaviEdit.

Figure 158 The Log window

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3.2.3.6 The History window

The History window contains a list of all actions being performed by NM3 that can be
undone/deleted (see below in Figure 159). Pressing the arrow-left will undo last action,
whereas pressing arrow-right will redo last action (if applicable).

Figure 159 The History window

3.2.3.7 The KP Axis window

Figure 160 The KP-Axis window

As visualised above in Figure 160, the KP-axis window can a. o. visualize runline range, dedicated
event profile and pipe status information. It is possible to select/deselect which runline information,
event information and pipeline information, to display. With respect to event information it is
furthermore possible to determine which event-types to display.

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For pipeline information, the following information is visualized: freespan, exposed pipe, covered
pipe, status (options are ‘OK’ and ‘NA’) and bending violation.

Figure 161 The Event Profiles View in the KP-axis window

For events in particular, as can be seen in Figure 161 above, each manual event-type loaded will
have a line in the Event profile and each event of the type will be represented by a vertical line on
the line at the particular KP-value of the event. Initially all manual events loaded will be sorted and
displayed in the KP-axis window. Subsequently it is possible to deselect which events (as well as
other items available) to visualise – by choosing menu item ‘Show’. The window below in Figure
162 will pop up facilitating selection of which event-types to show in the KP-axis window. Note
that the list is alphabetically ordered.
Also observe that the items available in the list will depend on what items have been loaded in and
generated as toppings in NM3.

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Figure 162 Show Ranges, left and with events (right)

3.2.3.8 The Long Profile window

The ‘Long Profile’ window given below in Figure 163 below provides a series of view
functionalities associated with a pipe object. When first opened the window depicts a kp-based
longitudinal profile, in which track information of the ROV is shown together with the pipe
information and superimposed onto the DTM. The pipe information potentially comprises the
sideflags (including user defined sideflags) as well as the pipe itself. The DTM is shown at the
position of the pipe and is as such restricted to the longitudinal extent of the pipe.

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Figure 163 The Long Profile window items

Items of particular interest in the Long Profile window are:
 The Pipe selection drop-down button facilitates selection between all pipe-objects
available in the project see Figure 164, left
 The Profile selection drop-down button facilitates selection between all pipe-items
available in the project see Figure 164, right
 Only one pipe profile can be shown at a time
 Zooming can be performed using the 'Zoom' buttons, based on (selected) pipe or on the
active runline of the NM3 project

Figure 164 Drop-down buttons in the longitudinal profiles window

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3.2.3.9 The View Settings window

The ‘View Settings’ window given below in Figure 165 below visualises and facilitates alteration
of the view settings of the DTM window of NM3. The different settings are divided into
headlines/items such as ‘Depth Contours’, ‘DTM (Surface)’, ‘Environment’, ‘Light’ and ‘Raw
Points’ as can be seen in the figure.

Figure 165 The View Setting window

The different entries/headlines in the ‘View Settings’ window visualised in Figure 165 are:
 Advanced:
o Node Clear Age: Defines how long NM3 should keep nodes outside the visualized
window. The factor is multiplied with the frame timer value to accomplish the age
in seconds. Default value is 20 and should not be changed
o Clever Splitting: Optimization of display regarding splitting of nodes
o Maximum Number of Cached Nodes: When moving fast in the DTM window and
this defines the maximum number of cached nodes, with respect to node clear age

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o Node Box Mode: this function can facilitate drawing of a box around nodes in the
Quad Tree for diagnostic purposes (choose between ‘none’, ‘nodebox’ and
‘databox’)
o Frame Timer: update rate of DTM window. Default value is 10 ms
 Camera:
o Draw North Arrow: facilitates toggling on/off of the north arrow in the DTM
window
o Draw Target: facilitates toggling of camera target (visualisation of xyz axis of the
coordinate system in the center of the view) in the DTM window
o Target Size: in pixels. Default value is 100 pixels
 Depth Contours:
o Contour Line Step: contour interval in meters for live contours. A value of 0 will
disable drawing of live contours
 DTM (Surface):
o Linear Filtering: toggles linear filtering on/off. Linear filtering will tilt each cell
relative to the value of the neighbouring cells. No filtering will show each cell as a
horizontal plane. For visualisation purposes only
o Fill Secondary: toggling of filling of neighbouring points. Neighbouring points are
cells with no observations in them that are neighbours to primary cells (cells with
observations). For visualisation purposes only
 Environment:
o Detail Level: in the DTM window. Choose a lower detail level if the computer
cannot keep an appropriate frame-rate
o Subsea look: when enabled, colors will be faded at a distance to imitate a subsea
look, in the DTM window
o Sky: when enabled, NM3 will draw sky as background for the DTM window. At
the same time, this will disable the background colour defined above
o Background: here definition of background colour of the DTM window can be
done. The value is used if the background is solid (no sky: see above)
 Light:
o Height: height of the light source in degrees relative to the horizon. Default value of
70 degrees.
o Azimuth: here the direction of the sun light can be defined relative to north. Default
value is -45 degrees
o Specular opening: defines the specular light opening angle, with a value of 0
meaning that no specular light is required
o Specular intensity: defines how white, in percent, the terrain is when oriented
directly towards the light source. Default value is 50%
o Diffuse: defines diffuse light range in degrees. Diffuse colors range from original
color at specular edge down to black color (at degrees)
o Enabled: toggles light on/off

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 Miscellaneous:
o Triangle Grid: when enabled, the triangles that show the highest level of detail in
the Quad Tree are visualized. The triangles are the TRNs that form the DTM at
different level of detail
o Draw Profile Grid: when enabled, a profile grid is visualised in the DTM window
around the center of the view (the camera point)
o Surface Grid: toggles the surface grid on/off
o Surface Grid Position: in case of a surface grid, this option defines the vertical
position of the grid (in meters)
o Water Surface Transparency: if enabled the water surface is displayed at the vertical
position defined under water surface and with the transparency specified here, with
0% is totally invisible water surface and with 100% giving a totally opaque water
surface
o Water Surface: toggles visualisation of the water surface on/off
o Water Surface Depth: defines the vertical position of the water surface
 Overlay:
o Target Location: toggles target location in lower left corner of DTM window
on/off. The information includes date/time, KP, Easting, Northing and depth of
target position
o Pipe Node Info: toggles pipe node information on/off. Pipe information is displayed
when cursor is hovered over pipe node
o Pipe Tracker Info: toggles pipetracker information on/off. Pipetracker information
is displayed when cursor is hovered over pipetracker points
o Legend: toggles legend in upper right corner of DTM window on/off
o World Shore Lines: the world shore lines can be turned on/off here
 Raw Points:
o Draw Raw Points: toggles visualisation of raw bathymetric observations on/off
o Show Good: toggles the view of good points on and off
o Show Deleted: when enabled, also deleted observations will be visualised in the
raw data window
o Show Statistics: when enabled, statistical information related to the observations
visualised in the raw data window will be shown in the DTM window. The statistics
include: file-name, number of points, average depth, difference of average depth (in
case data from more than one file is presently shown, maximum and minimum
depth values, median depth value as well as standard deviation of the depth
currently in the window
o Color Deleted: facilitates definition of colour for deleted points
o Color Filtered: facilitates definition of colour for points filtered away in NaviEdit
o Raw Points windowx_m: defines size of the window in the x-axis (Easting)
direction

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o Raw Points windowy_m: defines size of the window in the y-axis (Northing)
direction
o Raw Points size: defines size, in pixels, of the individual raw bathymetric
observations
o Color Mode: when ‘Draw Raw’ is enabled (see below) the option facilitates the
definition of whether or not to visualise raw per block (all data originating from a
single file are given the same color) or by depth (data are colorcoded relative the
depth value, using the definition associated with the colormode ‘depth’)
 Tooltip window: visualizes a help-text associated with the item currently highlighted

3.2.3.10 The Video windows

Figure 166 Video windows

The Video-window can be opened from the menu-item ‘View – open all video windows’.
NaviModel3 will automatically detect the number of cameras/video files present in the data and
open a corresponding number of video windows.

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Figure 167 Video Folder

The contents of a video based folder is typically dragged-and-dropped onto the DTM-window of
NaviModel3. The Video information is linked to a track. This track information can either be
loaded directly as a topping or it can be loaded as part of the video folder drag-and-drop. In the first
case, data can be exported from NaviEdit as *.dat or *.etr files or by linking to the NaviEdit
database. In the second case the track data could be associated with a file already residing in the
video folder. Either way however, NM3 will link the time associated with the track information to
the time of the video. So by clicking on the track in the DTM-window, the cursor position (which
is the current position on the track (the ROV position)) will be visible (as a cursor) and the video
will move to the same position with respect to time (see Figure 168 below). Alternatively it is
possible to press the ‘Bring Video Here’ icon of the 'Video' toolbar.

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Figure 168 NM3 Video windows and Track w. Cursor on DTM window

3.2.3.11 The Event window

The Event window is basically constituted by the EventEdit software. EventEdit can be executed
as a stand-alone application or as an integrated part of NaviModel3. The functionalities when
integrated into NaviModel3 and when executed as a stand-alone application are identical.
The EventEdit tool with an eventfile loaded is visualised below in Figure 161. It appears that the
user interface is constituted by the so-called ‘Fields View’ area. In the ‘Fields View’ area, the
various event fields can be visualised in a matrix structure, much like what is known from various
spread-sheets. Details on the functionalities of the EventEdit tool are given in the two dedicated
eventing manuals: ‘Online Eventing Manual’ and Offline Eventing Manual’, that both can be
found on the EIVA Training and Documentation site: http://download.eiva.dk/online-
training/index.htm. Loading of events is described in chapter 3.3.3.8 below. Observe that Figure
168 above shows a visualisation of events in the DTM window.

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Figure 169 EventEdit, with a NaviPac eventfile (*.log) loaded

3.2.3.12 The Point Cleaning Toolbox

The Point Cleaning Toolbox contains shortcuts to the various cleaning tools implemented into
NaviModel3. In addition a function that facilitates writing of edited (cleaned) data back to
NaviEdit, is included.

Figure 170 The Point Cleaning Toolbox

The toolbox includes, in sequence, the following tools (note that more detailed information about
the various tools are given below in chapter 3.3.4, Cleaning Methods.
 Point Edit tool is a manual cleaning tool, to a large extent identical to the PlanView

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cleaning, included in NaviEdit

 Histogram Plane Cleaning is a semi-automatic cleaning tools in which cleaning can be
performed relative to a polygon-based plane. The user interface is divided in two: 1) is a
histogram that shows the distribution of vertical distance between individual points and
the plane together with two moveable vertical lines (below and above the plane) that
constitute the selection tools (below, left) and 2) which is a visualisation in the DTM-
window of the consequences of the present cleaning selection (below right)

 Spike Shooting cleaning is very similar to Histograms Plane Cleaning, except that the
plane is a circle (below, right)

 S-CAN Score is an automatic cleaning tool, that has been developed with focus on
cleaning of massive multi-beam point clouds. The S-CAN Score computes a ‘Noise
Score’ for each data point, and the user can then interactively clean parts of the dataset in
NaviModel3 by selecting a region of the data and removing points with high noise scores.
The noise scores are determined relative to a threshold value that the user can select in
the user interface (below, left). To support his decision, the consequences of the
threshold, in terms of points to be deleted, are visualised in the DTM window (below,
right)

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 S-CAN Components is a cleaning tool that resembles the Score variant. The difference is,
that it is possible to choose more than one area and that the threshold value must be
decided upon prior to the determination of the noise score value.

 S-CAN Control Panel facilitates the definition of various settings for the execution of the
S-CAN automatic cleaning functionalities. The items to be defined are:
o Location of temporary data is used whenever the data to be cleaned can not be
contained in the RAM of the computer. To optimize the performance, it is
recommended that the temporary/swap file is located on a fast and large storage
medium
o Action to take when available space drops below a given threshold is also used to

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optimize the performance of S-CAN

o Maximum memory use should be used with care. On the one hand side it is
important to have as much capacity assigned for the S-CAN algorithm as possible,
however, as it is stated in the dialogue: the amount allocated ... Should preferably
be close to, but less than the available amount of physical memory... available

 Save to NaviEdit... is an action that will write back the cleaning action to the present
NaviEdit database. Note that the user is given the possibility to choose between the
files/blocks that have been the subject of change in NM3

 Delete (Polygon) facilitates deletion of all data inside a manually selected polygon
 Undelete (Polygon) facilitates un-deletion of all data deleted inside a manually selected
polygon. Note that this un-deletes everything, excluding data that has been deleted in
NaviEdit
 Undelete Everything... functionality similar to 'Undelete (Polygon)' that un-deletes all
deleted points in the active DTM

3.3 Special Functions & Methods

When dealing with a post-processing task associated with bathymetric survey data, a series of
special functions and methods within NaviModel3 are available to the user:
 Model Types and Interpolation Methods
 Generating the DTM (the Quad Tree principle and Indexing)

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 Using Toppings
 Cleaning Methods
 Digitizing Methods
 Exporting Functions
 Contouring Methods
 Volume and Area Calculations
 TVU Analysis Tool
 The Level Out Functionality
 Other Functions:
o Beam Count Statistics
o Raw Data Graphs from NE connection

3.3.1 Model Types and Interpolation Methods

A Digital Terrain/Elevation Model (DTM/DEM) can be regarded a generalization of the observed
bathymetric data, with generalization being defined as the process of reducing the amount of detail
in a map in a meaningful way, with respect to scale.
At the same time, since total model coverage of the area of interest is frequently a requirement,
modelling must often be extended beyond the observations.
Whereas different Geometry Types are used to generalize on the basis of the bathymetric
observations, Interpolation Methods are utilized to generate qualified information, based on the
model generated, in areas where no observations have taken place.

3.3.1.1 Geometry Types

NaviModel3 supports two different geometry types:
 The Triangulated Regular Network (TRN) Geometry Type
 The Triangulated Irregular Network (TIN) Geometry Type

3.3.1.1.1 TRN Modelling

The TRN geometry type within NaviModel3 is based on square cells with a given cell size. The
cell attribute value (z-value or depth value) can either be arrived at by averaging all the
observations within a single cell or by taking the minimum, median or maximum depth value
respectively. The TRN modelling method can produce all four model types (together with a special
model type, called count) but only generates the average model by default. So when generating an
NM3 DTM/DEM, the first step would be to generate one or more of these model types on the basis
of the input data and on the specified cell size.

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Figure 171 TRN Squared Array with primary cells as squares

The TRN cell array looks as visualised in Figure 171 above. The centre of each cell is visualised
with a green dot. Each cell has its own attribute value not associated with the attribute of the
neighboring cell. The model will therefore appear to have steps and will certainly not appear
smooth. With squares representing the attributes it is in other words not possible to make the
desired seamless transition between the cells.
To assist in this, each cell is divided into four triangles as it appears in Figure 172 below. In
addition the corners of each cell (visualised with a yellow dot) is given an attribute value that is
representing the attribute values of the four neighbouring cells. For an average model, the point
will be given the average value for an average model, whereas it will be given the maximum,
median and the minimum of the four neighbouring cells for maximum, median and minimum
models respectively. By using triangles it is ensured that each piece of the mosaic surface will fit
with its neighbouring pieces since the surface of each triangle is defined by the elevations of the
three corner points.
When all three corners of each triangle have now been assigned an attribute that is linked to the
neighbouring points, it is possible to create the desired continuous seamless transition between the
cells, represented by the triangles, within the model.

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Figure 172 Generating a Triangulated TRN on the basis of the squared cell model

The TRN-based model types can be used to generate and export gridded values and bitmaps even
if the desired cell size and orientation is not identical to that of the model. In general terms, the
present TRN model type selected can be regarded a look-up table and the export routine will thus,
by sending the XY-values, make NM3 return the associated attribute value from the present TRN
model type.
The generation of contours is also based on the TRN model. For each depth value related to the
contour interval and the depth range of the model, the contour routine will search the model and
find places with attribute values equal to the desired contour values. For each contour the points
returned must now be connected taking into consideration the basic requirements to contouring,
such as:
 Contour lines cannot cross each other
 Contour lines cannot stop in the middle of the model (unless there are no data available)
 Contour curves cannot split in two
 Contour curves cannot follow the top of a ridge or the bottom of a depression
Finally, it is worth noticing that the principle described in the above is valid for the highest
resolution of the model that is also equivalent to the lowest level of the Quad Tree (see chapter
3.3.2.1 for information about Quad Tree Principles). For higher levels of the Quad Tree, the
principle is identical in terms of methods for visualisation of the model.

3.3.1.1.2 TIN Modelling

A TIN is a terrain model type that creates a set of continuous, non-overlapping, connected triangles
(faces), based on a so-called Delaunay triangulation of irregularly spaced observations. The corners
of the triangles are identical to the observations and within each triangle the surface is usually
represented by a plane. Unlike the TRN geometry type, a TIN model will allow for different
density in the data model in different areas. The size of the triangles can therefore be adjusted to

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reflect the degree of relief in the surface to be modelled, provided more data has been gathered in
areas of variable elevation characteristics.
Similar to the TRN geometry type, the use of triangles ensures that each piece of the surface fits
the neighbouring pieces, and it is thus possible to create the desired continuous seamless transition
between the triangles, within the model.
The variable and thus efficient data density within the model can bring in yet another advantage, in
that it ensures a very efficient way of storing the model. The TIN model shown below in Figure
173 is generated with approximately 13.000 triangles and is occupying less than 0.5 Mb, whereas
the TRN geometry type, based on identical data, occupies 34 Mb.

Figure 173 TIN model within NM3, based on single beam observations in a harbour

The use of TIN triangles works best in areas with sharp breaks in slope, where the edges of the
triangles can be aligned with breaks for instance along ridges. For TIN modelling to be efficient,
this requires therefore that data has been collected in significant positions, such as highs and lows
along break lines as well as on top of ridges and in depressions. This can, for obvious reasons, not
be fully obeyed in connection with hydrographic surveying. It is therefore important, when the aim
is to use TIN modelling in the post-processing, to use knowledge about the nature/roughness of the
seabed to be included in the pre-survey planning considerations. This could for instance result in
different line-spacing in different areas to accommodate for a sensible relationship between data
density and seabed roughness. The TIN model shown above in Figure 173 is based on single beam
observations. Observe that points are almost equally spaced, indicating a flat seabed.

3.3.1.1.2.1 Principles of Delaunay Triangulation

The Delaunay triangulation is a triangulation method, that, in NaviModel3, is used to ensure that
the angles in the triangles are as close to 60 degrees as possible, with the observation material at

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hand, in order to ensure that each position in the plane of the triangles are as close to the
observations as possible. This is basically done by introducing the requirement that a circumcised
circle between the corners of a triangle must not contain any other point; it must be an empty circle
with respect to the other observation points.

Figure 174 Principle of Delaunay Triangulation

The principle is visualised in Figure 174 above. In the example, a simple triangulation must take
place on the basis of four observations. By definition, the outer polygon ABCD is fixed. So the
task for the Delaunay algorithm is to figure out which of the two options, left (with line AD) or
right (with line BC) in the figure, should be chosen. Intuitively, the option right also appears right,
since the sides of the triangles have almost the same length, whereas this is not the case to the left.
As can be seen in the figure, both possible circumscribed circles contain the fourth point in the
option left whereas this is not the case in connection with right. So therefore option right is chosen
by the Delaunay algorithm.

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3.3.1.1.2.2 Special TIN Model Functions

Once a TIN model has been created in NM3, the various TIN model functions can be invoked from
the ‘Survey’ entry of the ‘Project Tree’ window by right-clicking on the model as visualised below
in Figure 178.

Figure 175 The Survey Menu, TIN Models

Of particular interest are the functions that will allow modification of the Delaunay triangulation:
 Remove triangles mode: will allow the user, through manual selection with the cursor, to
delete single triangles
 Remove triangles with lines longer than: an automatic deletion feature that will allow the
user to enter a maximum allowed line length. Any triangle with at least one line longer than
this maximum value will be deleted
 Flip Triangles Edge Mode: will allow the user, through manual selection, to change the
triangulation on a single triangle, by flipping the edge
 Remove Beam Mode: this function facilitates the deletion of a single observation, through
manual selection
 Delete Triangles - With center..: can be used to delete triangles relative to a boundary
(inside or outside)
 Delete Triangles - Histogram of...: is an automatic deletion feature that will allow the user
to enter a minimum and a maximum allowed line length, based on a histogram distribution.
The user interface is divided in two: 1) is a histogram that shows the distribution of line
lengths together with two moveable vertical lines, that represents the minimum and
maximum allowed side length and thereby constitute the selection tool and 2) which is a
visualisation in the DTM-window of the consequences of the present deletion selection (see
below for a visualization). Any triangle with a side shorter than the minimum value or
longer than the maximum value will be deleted

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3.3.1.2 Interpolation Methods

Interpolation is used to predict the values of attributes (depths) in areas with no observations
available, but within the area covered by observations. Predicting values outside this area is termed
extrapolation.
When data is abundant, like in connection with areas observed with multibeam techniques, most
interpolation techniques will yield (close to) similar results. When data are sparse, however, like in
connection with single-beam surveys, the method for interpolation can be critical.
NM3 supports two different methods for interpolation/extrapolation:
 Interpolated TRN Models
 TIN Modelling

3.3.1.2.1 Interpolated TRN Models

In connection with TRN models, NM3 facilitates the method of performing ‘Interpolated’ models.
Even though the phrase is ‘Interpolated’, it actually covers the fact that an interpolation is taking
place internally in the surveyed areas, whereas extrapolation is taking place on the outside of this
area.
NaviModel3 will, on the basis of primary cells (cells that contain observation information),
extrapolate to the neighbouring cells by using a predefined search radius. In cases where primary
cells are completely surrounding the secondary point in question and within the search-circle, this
method actually results in an interpolated result. Note that the method is termed ‘Interpolated
Average’ when the input attributes from the primary cells are associated with values from the
average TRN model. Likewise NM3 can generate an 'Interpolated Maximum' model with the input

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originating from a 'Maximum' model and an 'Interpolated Minimum' model with the input
originating from a 'Minimum' model.

Figure 176 Principle of Interpolating models: Extrapolation left and Interpolation right

This is all visualised in Figure 176 above. The primary cells are indicated with a green dot,
whereas the secondary cell in question is represented by a red dot. Around the secondary cell a
circle is drawn with the predefined search radius. This is called the search circle. The routine will
search for primary cells in all directions inside the search circle. If more than one primary cell is
found in a given direction, the closest will be used to determine the value/attribute of the secondary
cell. Once all directions have been investigated and at least one primary cell has been found inside
the circle, the value for the secondary cell in question is found as a weighed average of the
values/attributes of the primary cells found. This weighing is performed as the inverse to the square
of the distance between each of the primary cells and the secondary cell in question. The method is
thereby taking Tobler’s first law of geography into consideration “Everything is related to
everything else, but near things are more related than those far apart”. The value/attribute of the
secondary cell can in other words be calculated as:
n
1 1
As  n
1
*  2
* Api , with

i 1 d i
2
) i 1 d i

As = attribute value of secondary cell

Api = attribute value of primary cell n
n = no. of primary cells found

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di = distance from secondary cell to primary cell n

The first part of the equation is used to normalise the outcome for the attribute of the secondary
cell, whereas the second part constitutes the weighing of the observations relative to the inverse of
the square of the distances.
The method can be considered a dedicated case of the Inverse Distance Weighing (IDW) method
that by some is considered the workhorse of spatial interpolation. IDW achieves the desired
objective of creating a smooth surface whose value at any point is more like the values at nearby
points than the values at distant points.
Note also that the method is not used to change values of primary cells in NM3. Consider however,
if it was really used to try to do this: the method would then actually arrive at the input values for
the primary cells because the weight would be infinite with a zero distance. IDW is therefore often
described as an exact method of interpolation, since the results are true to the input as opposed to
an approximate method that allows the result to deviate from the input in the interest of perhaps a
higher degree of smoothness of the model.
The IDW method can often be considered particularly useful in connection with Hydrographic
survey data. A weighed average that is never negative will always return a value that is between
the limits of the measured values. This means that the method will never generate new undesired
highs and lows, not even when extrapolating from the outer skirts of the model. This can however
sometimes produce counterintuitive results. If for instance a slope is indicated by the data on the
outside of the model, the IDW method will not continue this trend but instead arrive at some
average values outside the area of the data points. This is visualised below in Figure 177. In the
foreground is a slope with the contours showing the area that contains observations. The sloping is
discontinued in the Interpolated area. As opposed to this, observe how the extrapolation beyond the
flat area in the background clearly appears to be intuitively correct.

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Figure 177 TRN Extrapolation beyond observations

‘Interpolated’ models are most useful in connection with multi-beam surveys but can also
successfully be used with single-beam data.
The ‘Interpolated’ function is invoked in NM3 from the ‘Survey’ entry of the ‘Project Tree’
window by right-clicking on the model and choosing the menu-item ‘Calculate Model Type -
Interpolated Average, Minimum or Maximum as appropriate)’. The dialogue is visualised below in
Figure 178. Note that all Modeltypes will be listed in the dialogue, irrespective of which model
type is already residing in the survey. Interpolation models will be overwriting the already existing
models, whereas a selection of an already existing non-interpolated model will be ignored.
Choose an appropriate value for the search circle when prompted (for ‘Search radius in cm for
interpolation’) as shown below right. Observe that the default radius will be 5 times the cell size of
the model; in the present context this is equivalent to 125 cm. Once an appropriate value has been
entered, press ‘OK’ to proceed.
In general terms, for multi-beam as well as for single-beam surveys, an appropriate value for the
search circle should be slightly larger than the width of the largest distance between observations,
in a direction perpendicular to the sailing direction. This will ensure that interpolation, not
extrapolation, will take place on the inside of the model. If this is not observed, ‘steps’ in the model
must be expected where the extrapolated values from one side meets extrapolated values from the
opposite side. In particular in connections with single-beam survey, where the relative number of
primary cells is expected to be small, this rule of the thumb is important to obey.

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Figure 178 Survey Menu, TRN Models - Generate Interpolated Models (left) and Search radius input (right)

NM3 will now start generating the Interpolated Average model. Once this has been accomplished,
it will be available in the ‘Model Type’ drop-down-list in the ‘Properties’ window associated with
the model.

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Figure 179 Geometry Mode/Model Type changed from 'Minimum' (left) to 'Interpolated Minimum' (right)

3.3.1.2.2 TIN Modelling

Triangular Irregular Networking can, besides being considered a modelling method, also be
considered an interpolation method. As opposed to the ‘Interpolated Average’ method described
above however, TIN cannot be used to extrapolate attribute values outside the area of observations.
Like the ‘Interpolated Average’ method, the TIN method can be considered an exact method, since
TINs incorporate the original data points. However the TIN goes further than the ‘Interpolated
Average’ model, given the fact that the data points are identical to the observations. This is not the
case for ‘Interpolated Average’, since this extrapolation method is based on an average model and
not on the raw observed data.
Having said this, however, it appears evident that the TIN has its limitations in the fact that, in
principle, no generalisation of the data will take place. All observations are used and this clearly
makes it more useful in connection with single beam surveys and when handling theoretical
models, where the amount of data is limited.
A special case for TIN modelling is the 3D theoretical model that is often employed to define
requirements to dredging tasks. With the adequate data, defining the requirements to the area it is a
simple task to generate a TIN that yields a complete and well-organized representation of the area.
This can normally not be accomplished with a TRN model.

3.3.2 Generating the DTM

Within NaviModel3, data is, in general terms, organised in a so-called Quad Tree structure. The
process of placing data in this structure is called indexing.

3.3.2.1 The Quad Tree Principle

The Quad Tree structure is used to organise TRN models within NaviModel3. A Quad Tree is a
tree-based data structure in which each internal node has up to four children. Quad Trees are

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commonly used to partition a two dimensional space by recursively subdividing each level into
four quadrants or regions (see Figure 180 below).

Figure 180 The Quad Tree Principle

In a Quad Tree, records are stored in locations called leaves. The name originates from the fact that
records always exist at end points; there is nothing beyond them. The 1st level is also sometimes
identified as the root. Branch points, on the other hand, are called nodes. The order of a tree is the
number of branches (called children) per node. In a Quad Tree, there are always four children per
node, so the order is 4. The number of leaves in a Quad Tree is consequently always a power of 4.
The number of access operations required to reach the desired record is called the depth of the tree.
Figure 181 below visualises a Quad Tree of depth 4. This is basically just another way of
visualising the tree given in Figure 180 above.

Figure 181 Quad Tree with Leaf Level

In a practical Quad Tree, there can be millions of records. As can be seen in the figure, not all
leaves necessarily contain a record and the same is actually the case for nodes. In the latter case,
the node does not have to be subdivided. When a leaf does not contain a record it is called a null
record. In the example shown here, seven out of 64 leaves are nulls, visualized by open circles.
The cells may be square or rectangular, or they may have arbitrary shapes. All forms of Quad
Trees however share some common features:

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 They decompose space into adaptable cells

 Each cell has a range of capacity, defined by a minimum and a maximum value. When the
limit is reached, the cell splits downwards in the tree or merge upwards to the previous
level
 The tree directory follows the spatial decomposition of the Quad Tree
Each node must contain the following information:
 4 pointers: quad['NW'], quad['NE'], quad['SW'], and quad['SE'] – in NM3 this is defined as
E, N and size
 a point, which in turn contains:
o a key; usually expressed as x-, y-coordinates
o an attribute value; for example a depth or a series of depths (maximum, minimum,
average)
The NaviModel3 adaption of a Quad Tree structure is based on square cells that decompose down
to the leaf level, which is identical to the cell size defined when generating the DTM. The depth of
the Quad Tree is in principle based on a) the area covered by the data and b) the cell size. However
in NM3, the depth is defined as 32 levels and data is then filled from the leaf level and upwards.
On the leaf level, the attribute values are defined as average, maximum, minimum and median
values respectively of the observations found in the cell. Higher up in the hierarchical Quad Tree
system, the attribute values are defined as average, maximum, minimum and median respectively
of the values in the lower branch level.
The higher orders of the Quad Tree are primarily used for visualization purposes: the higher the
scale the lower the requirements to the resolution and thereby the higher in the Quad Tree the data
can be assembled. When exporting from a DTM, the leaf level data are normally used to define the
various attribute values for the export. The cell size for the exporting is however used to optimize
this action: if for instance the cell size for the export is 2 times the cell size of the model, then the
exporting function will actually collect attribute values from the level above the leaf level. This
will potentially speed up the export by a factor 4.
In NaviModel3 a database that encloses the hierarchical structure of the Quad Tree structure has
been entrenched in a single file solution. This solution has a series of advantages relative to the
classical file structure, such as:
 the speed of various search functions within NM3 (exporting functions etc.) is increased
 copying and back-up speed of a project is increased
 the single file solution facilitates multiple access to a database
 the system does not jeopardise/slow down general file management functionalities on a
hard-drive
Since the size of such a database can often extend to a considerable size, it should be considered to
generate databases only on NTFS drives, since FAT32 drives has a file size limit of 4 GB.

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3.3.2.2 Indexing a DTM

The Digital Terrain models can be built inside NaviModel3 by dragging-and-dropping from
Windows File Explorer onto the DTM-window. The program supports input with the EIVA
proprietary formats *.ned, *.sbd as well as alternative formats, such as *.xyz, and *.all files.
Dropping one or more files onto an empty project will force NaviModel3 to start indexing for a
TRN model, whereas dropping onto an already generated/loaded terrain model will either append
the information from the data files to the current model or the data can be used to generate a new
Terrain Model, depending on user selections.
Observe that when dropping ASCII xyz-files with the extension xyz, NM3 will prompt to generate
a TIN model as shown below. A TIN model is not organised in a Quad Tree structure and is
therefore not indexed.

Once NaviModel3 starts indexing a TRN model for the first time, a dialog will request for
information regarding the DTM to generate. The information required is comprised by a)
requirements to cell size of the resulting terrain model, b) information related to the path and name
of the file of the DTM and c) information related to the model types to generate and which S-CAN
Score cleaning settings to apply, if any, as visualised below in Figure 182.

Figure 182 DTM settings, Path, filename and cell size selection

Whereas requirements to cell size can be typed in manually, the path for the DTM-file is defined
by pressing the 'Browse...' button and subsequently selecting the appropriate settings. In order to
define which model types and cleaning settings (as well as scale values) to apply to the DTM, the
'Options...' button must be activated. The dialogue in Figure 183 will appear, thus facilitating the
definition of these settings.

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Figure 183 DTM/Import Options

As can be seen Figure 184 below, NM3 will routinely issue a warning regarding the drive type, in
case this is not NTFS. Press ‘Yes’ to continue if the model is not expected to exceed the limit.

Figure 184 Warning regarding drive type if not NTFS

When clicking ‘Ok’ on the DTM Settings dialog, the indexing process will start, during which a
terrain database is being built on the hard-disc. Information related to t he process is being
displayed on the Information bar as shown below in Figure 185. After indexing, NaviModel3 will
automatically go to the terrain in the DTM-window (left) as well as in the Job List window (right).

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Figure 185 Indexing Progress visualized in the Information Bar and in the Job List window
Once the indexing is finalised, the DTM window will automatically move to the area in question
and select a scale that accommodates for the entire model to be shown, as can be seen below in
Figure 186. At this stage of the process the DTM is saved and any subsequent alteration committed
to it will be saved automatically in the location and with the file-name initially specified.

Figure 186 Indexed DTM repository in NaviModel3

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3.3.3 Using Toppings in NaviModel3

Once the DTM has been generated, various toppings can be overlaid the terrain model in the DTM
window. In order to support bathymetric survey post-processing, toppings like runlines,
displaylines (including ESRI GIS and AutoCAD based information), waypoints, chart definition
series etc. would be of particular interest. Also toppings like 3DS information, video information,
pipe-information, event-information and track-information could however be used in the post-
processing phase.

3.3.3.1 Runlines
NM3 is supporting the runline formats that are defined in and supported by NaviPac. This also
includes multiple runline, series of parallel runlines as well as crosslines. In some cases however,
in connection with pipe inspection and offline eventing, it is advisable to only load a single runline.
Runlines can be dragged-and-dropped directly onto the DTM window, they can be generated on
the basis of a digitized line (see chapter 3.3.5 for details) or they can be loaded from the ASCII
Import window. The latter can be applied when the format is not automatically recognised by
NM3.
Start by opening the ASCII Import window from the menu item ‘File – Import…’. It is now
possible to either browse for the file in question, by using the 'Browse' button, or to drag-and-drop
it onto the ASCII Import dialogue window. Once the latter has been accomplished, the window
will appear as visualised below in Figure 187, left. Highlight the ‘Runline’ option in the list to the
left and press the ‘New’ button, to indicate a new import template. Give it an appropriate name.

Figure 187 ASCII Importer

The template must now be modified to accommodate for the contents of the file. This is done by
defining the column in which the Easting, Northing and KP information is placed. It is also
possible to define items like number of header lines, separators and file extension. Be careful with

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the definition of the extension. NM3 will use this setting to identify files with this extension and
load it automatically, when dragged-and-dropped onto the DTM, with the template defined. The
template now appears as visualised in Figure 187, right including the actual contents interpreted
and shown in the bottom window and the columns selected displayed as highlighted. Once the
template is acceptable press the ‘Save’ button in order to save the template. Then press ‘Import’ to
read the runline into NM3. Note that if NM3 does not recognize an extension, it will automatically
open the ASCII importer dialogue window when a file is dragged-and-dropped onto the DTM
window.
Once a runline has been loaded into the DTM window, it will appear here, as shown below in
Figure 188. At the same time, an associated entry will appear in the ‘Project Tree’ window under
‘Toppings’. A runline is normally green however when selected in the ‘Project Tree’ window it
will change colour to a colour that can be selected by the user. Observe that the option ‘Show
Projected Point’ has been enabled, with the consequence that the cursor position is projected onto
the runline and the corresponding positions (Easting, Northing, DAL, DOL and KP) are visualised.
In the properties of the runline, the weight (of the line) as well as the size of the points (start/end of
segments) can furthermore be defined.

Figure 188 Runline in NM3

If more than one runline is loaded into NM3 the user must choose which one should be active. The
active runline is used in connection with eventing, pipeline inspection etc. In order to activate a
runline, right-click on it in the 'Project Tree' window and choose the menu-item 'Activate'. Once
this is established the runline in question will show in bold.

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3.3.3.2 Displaylines
NM3 is supporting the displayline formats that are introduced into NaviPac, as well as a few
others. In NaviPac, the concept of displaylines includes two different formats:
 the *.dis format
 the AutoCAD formats (including the *.DXF and the *.DWG formats)
The *.dis format is a simple ASCII format, that defines Easting, Northing and pen control in three
columns. The format is defined in http://download.eiva.dk/online-training/HD_Displayline.txt that
is part of the EIVA Training and Documentation site and installed with NaviPac.
Within NM3, the *.dis displaylines are used for a variety of things, besides the simple visualization
on the DTM window. They can be used as the basis of:
 the exporting function
 volume calculations
 structured cleaning
 model manipulation (crop model)

Figure 189 Displayline in NM3

When a displayline or a series of displaylines have been dragged onto the DTM window (or
loaded, as explained above in chapter 3.3.3.1, Runlines), they will be visualized here as shown in

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Figure 189. At the same time, an associated entry will appear in the ‘Project Tree’ window under
‘Toppings’.
A displayline is normally displayed with the color (and line style) defined in the file, however, this
can be altered in the ‘Properties’ window as shown above in Figure 189, by choosing ‘True’ to
option ‘Overwrite .dis settings’ and altering the ‘Color’ and ‘Line Width’ options.
Note that it is possible to generate a displayline from any of the other boundaries supported in
NaviModel3 (Runlines, digitized lines, ESRI shapes, AutoCAD files etc.).
NM3 as well as the Helmsman’s Display of NaviPac support AutoCAD files (*.dwg and *.dxf.
These files are used for visualisation only. See an example in Figure 190 below. It is possible to
change the visualisation of the layers within the file, by right-clicking on it in the ‘Project Tree’
window and choosing menu-item ‘Layers’. The window ‘Layers’ shown in the figure to the right
will appear with a list of all layers, their colour and an option to tick them on and off individually.

Figure 190 AutoCAD file in NM3

ESRI shapefiles can also be loaded into NM3 and used as displaylines. They can either be dragged-
and-dropped or they can be loaded from the menu-item 'File - Add File To Project'. An ESRI
shapefile is a digital vector storage format for storing geometric location and associated attribute
information. The 'shapefile' is actually a set of several files. Three individual files are mandatory to
store the core data that comprises a shapefile. They have the extensions *.shp, *.shx, and *.dbf. In

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addition up to 8 other, optional extensions on a common prefix name exist. They are used to define
geodetic parameters, geocoding, metadata etc.
The three mandatory files contain the following:
 *.shp — shape format: the feature geometry itself
 *.shx — shape index format: a positional index of the feature geometry to allow seeking
forwards and backwards quickly
 *.dbf — attribute format: columnar attributes for each shape, in dBase IV format
While it is adequate to load the shape file, NM3 will be looking for the remaining files in the same
folder that the *.shp file is found. It will however not use for instance the projection information
available. Instead it is assumed that the coordinates of the *.shp file are given in the project
projection.

Figure 191Shape file in UTM, Zone 31, North loaded (grey colour)

3.3.3.3 Waypoints
By default, NM3 does not support dragging-and-dropping of the waypoint files supported by
NaviPac. They can however be defined through the ASCII Import as described above in chapter
3.3.3.1 in connection with loading of runlines. This is also why NM3 will open the ASCII importer
by default, if no association is recognized for the extension, as can be seen below in Figure 192,
left.

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Also observe that it is possible to generate waypoints manually in NM3. This is done by

Figure 192 Import of Waypoint file, default (left) and when defining a WP2 template (right)

So by defining a series of waypoint templates where the two NaviPac waypoint extensions *.wpt
and *.wp2 are specified, NM3 can be configured to recognise these by default.

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Figure 193 Waypoints in NM3, with 3DS object attached

Waypoints can be used to display static objects in the DTM window. These can have a 3DS object
attached to it as visualised below in Figure 193. Observe the ‘Properties’ window that contains
information about position as well as attitudes of the object. Also observe that it is possible to
enable visualisation of under keel clearance of the object by entering the relevant entering offset
values. The actual value is then shown under the object (14.3 m in the example).
Further with respect to waypoints, it is possible to display the seafloor distance from a node on a
3DS object, that in turn is associated with a static object, a video track cursor or similar. The user
must identify the node of relevance, in the 'Project Tree' window, under the '3D Model Manager'
entry. Once this is established, right-click on the node and choose the menu-item 'Create seafloor
distance object'. A seafloor distance object will now appear under the 'Static Objects' entry and the
vertical distance between the node and the DTM is displayed (see Figure 194 below). Note that
from the same menu, it is possible to generate a range bearing display between the node and the
current camera position (initially). The waypoint position can later on be altered manually.

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Figure 194 Seafloor Distance

3.3.3.4 Chart Definition Series

Chart Definition Series can be generated in Imaging, typically on the basis of a runline. The
method applied for this is described below in chapter 4.2.7.1, ‘Generating *.cdf-files in Imaging’.
Chart Definition Series can be used in connection with the exporting function.
It is also possible to perform a similar action in NM3, relative to a line (a displayline, digitized line,
runline etc). The action is invoked by right-clicking on a line object in the Toppings entry of the
'Project Tree' window and choosing the menu-item 'Line - Create Charts Along...'. The dialogue
shown below in Figure 195 will appear.

Figure 195 Create Chart Series Dialogue

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From this dialogue, it is possible to define the of the charts to be created relative to the line object,
such as:
 Width and height of each chart
 Overlap between charts
 Start and end, relative to line object
Observe that the properties for items like ‘Cellsize’, Image Format’ and ‘Terrain Color’ are
properties that are associated with the exporting function.
Once the desired settings have been applied and the 'OK' button has been pressed, the Chart series
will appear on the DTM window as well as in the 'Project tree' window, as visualized below in
Figure 196.

Figure 196 Chart Definition Series

Editing of the chart series can be performed from the 'Project Tree' window, by selecting the chart
in question and by subsequently modifying the properties manually. Once this has been completed
the chart series can be saved as a *.cdf series. Right-click on the overall Chart entry and choose the
menu-item 'Save'. When the cdf-file is saved, the dialogue below will appear, giving the user a
series of option. By clicking on the 'Open in text editor' option, the file will open in Notepad as can

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be seen below, right. Observe the simplicity of the file. It contains one line per chart and each chart
is defined through coordinates of the center as well as horizontal rotation as well as length and
width.

In addition to loading a chart series by dragging-and-dropping, it is possible to generate a single

chart manually from the ‘Project Tree’ window: Right-click on the ‘Toppings’ entry and choose
menu-item ‘New chart series (.cdf)’. A new ‘Chart’ entry will appear under the Toppings item.
When right-clicking on this chart and by choosing the menu-item ‘New chart’ a chart with the
extensions equivalent to the present view of the DTM window.

3.3.3.5 3DS Information

3D Studio files can be used in NM3 in a variety of ways. They can be dragged-and-dropped onto
the DTM or they can be placed in a dedicated folder to be automatically available for visualisations
whenever this is applicable for the object in question. When NM3 is first installed, a library of
relevant 3DS are installed in the NaviModel 3\bin\3D Models folder, however it is up to the user to
supply these with files of relevance to his project.
When the 3DS are dragged-and-dropped onto the DTM window, a prompt as shown below will
appear, asking the user whether the object should be placed in the scene at the current (camera)
position. When pressing the ‘Yes’ button, a waypoint will appear in the ‘Project Tree’ under the
Toppings item with the 3DS object attached. Alternatively, a ‘No’ will place the 3DS object in the
‘Project Tree’ under the 3D Model Manager item.

3DS files are files generated utilizing the 3D Studio software package from AutoDesk. Within
NM3, the 3DS files can be used to visualise objects, such as static objects, the track-cursor object
or online objects when the Online3D utility is linked to NaviPac and used as a 3D real time
display.
In such situations, the 3DS object must be associated with the object in question. To associate with
a track-cursor object, right-click on it in the ‘Project Tree’ window, choose menu-item ‘Attach 3D

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Model’ and select from a visualization menu, that is populated from the 3D Models folder, as
shown below in Figure 197.

Figure 197 Attach 3DS object to a Track-Cursor object

Once this has been accomplished, the track and the cursor will appear as shown below in Figure
198. The track is visualized as a yellow line, whereas the track-cursor is visualised utilizing a 3D
model of an ROV.

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Figure 198 Track and Track-cursor object with 3DS object attached
Observe that from the same menu item it is possible to attach a NaviPac shape file to an object.
These files are, with respect to format, identical to the *.dis files described above in chapter
3.3.3.2, Displaylines. The shapes are divided in two here, one that is termed 'Shape for 3D' and one
that is called 'Shape for 2D (profile)'. Whereas the 3D shapes are really simple horizontal 2D
figure, the 2D shapes are XZ visualizations of objects, primarily to be used in connection with
profiles views in NM3. When NM3 is first installed, a library of relevant NaviPac shapes are
installed in the NaviModel 3\bin\2D Shapes folder, however it is up to the user to supply these with
files of relevance to the project.

3.3.3.6 Track information

The track information can be loaded into NM3 either as *.dat or *.etr files exported from NaviEdit
or they can be loaded as part of a video folder, typically as a *.csv file. In the latter case, the file
can originate from NaviEdit or it can be originating from the video-software.
When dropping such a track file into the 3D view, NaviModel3 will load the file and place it under
the ‘Toppings’ node in the project tree. If a video topping has already been loaded onto the project,
NM3 will automatically associate the video and the track information via the timing of the two
different topping types.
To move to the newly loaded track, right click the node in the project tree and click ‘Move to’. The
track is split into separate lines when the time-span between two successive samples (or two
associated video samples) exceeds one minute – in such a case, NaviModel3 will sort all records in
the track file by time. The *.etr file shown below in Figure 199 contains three different tracks with
their start date and time as label.

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Figure 199 Track files under Toppings node – observe that the track is split into 3 separate lines

Once the track file has been dropped into NaviModel3, it will be visualised in the DTM-window as
shown above in Figure 198.

3.3.3.7 Video Information

NM3 supports two different video capture formats: NetMC Marine and Visualsoft. Video
information can be dragged-and dropped onto the DTM window. Once this has been
accomplished, the video information can be visualised as described in chapter 3.2.3.10, The Video
windows above.
Alternatively it is possible, once the video windows are opened, to define the path, where NM3
should locate the time-stamped folders containing the video information. Details on this are also
given in chapter 3.2.3.10.

3.3.3.8 Event Information

NaviModel3 supports by default two different event formats: the EIVA proprietary eventing format
*.log and the Visualsoft eventing format with the extension *.csv.
When dropping an event log-file into NaviModel3, the ‘ASCII Import Form’ window shown
below in Figure 200 will pop up. The user will have to choose the appropriate data-type (in the left
and the middle columns in the present context). Ultimately, when pressing the ‘Import’ button,
import of the event file will take place.

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Figure 200 ASCII Import form – Event Collection from NaviEvent

Now the various events will be visualised in the DTM-window and an event collection entry will
be given in the project tree under the ‘Toppings’ node (see red arrow in Figure 201 below). The
name of the event collection will be identical to the name of the event-file. Further when opening
the EventEdit window in NaviModel3, the events will be shown here – with one line per
entry/event.
Events can also be generated in NaviModel3. This can be accomplished in two different ways: 1)
by employing the NaviEvent tool in offline mode and 2) by generating events manually, using the
cursor/mouse. Prior to performing offline events, the user must select which event collection these
should be appended to. If events should be generated as a new event collection this must be
generated, by right-clicking in the Toppings -Events entry in the 'Project Tree' window and
choosing the menu-item 'New EventCollection'. The new entry will now have to be made active
(right-click and choose 'Set as Active'). All events generated will from then on be placed in this
selection and the Event window, if opened, will be updated accordingly.
Further details regarding events are given above in chapter 3.2.3.10 above as well as in the two
manuals dealing with the concept of eventing:
Online Eventing Manual: http://download.eiva.dk/online-training/NaviPac%20Manuals/Appendix/Eventing%20Manual.pdf

Offline Eventing Manual: http://download.eiva.dk/online-training/NaviPac%20Manuals/Modules/Eventing/Offline%20Eventing.pdf

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Figure 201 NM3 – with EIVA Events

3.3.4 Cleaning Methods

Data cleaning can take place within the framework of NaviModel3 due to the fact that the raw
observations are inherent in the DTM. A series of different data cleaning tools have been
implemented in NaviModel3:
 Manual Cleaning:
o Point Edit 3D Cleaning is a manual cleaning tool, to a large extent identical to the
PlanView cleaning, included in NaviEdit
 Semi-Automatic Cleaning:
o Histogram Plane Cleaning is a tool that facilitates cleaning relative to a polygon-
based plane
o Spike Shooting Cleaning is very similar to Histograms Plane Cleaning, except that
the plane is a circle, defined through a single point
 Automatic Cleaning:
o S-CAN Cleaning (Score and Components) is a fully automatic cleaning tool, that
has been developed with focus on cleaning of massive multi-beam point clouds

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The cleaning tools can be invoked from different locations:

 from the Point Cleaning Toolbox described in chapter 3.2.1.2, 'The View menu'
 with respect to a displayline, that then will form the basis of the so-called structured
cleaning
 when loading files during the initial indexing of a model or later on in the modelling
process, relative to a source file
In addition to the built-in cleaning methods, NM3 facilitates the inclusion of dedicated cleaning
tools through the menu-item ‘Tools – Cleaning Plugins – Edit Plugins...’. In this context, a tool is
an executable file that reads a point file (from NM3) and writes back the (edited) result to the
same file and consequently back to NM3, once the dedicated cleaning has taken place.
To assist in the cleaning activities, NaviModel3 gives the user the possibility to view the raw
observations, superimposed on the DTM. This view is activated from the 'Toggle Raw Points
On/Off' icon in the NaviModel3 standard toolbar. When the raw data view is activated, some
extra icons will appear in the toolbar . The G-icon can be used to activate/de-activate
the view of Good points. Similarly, the D-icon is used to toggle the view of the Deleted points on
and off. The + and - icons are finally used to change the size of each individual raw point. This is
all visualized below in Figure 202.

Figure 202 Visualization of raw observations, including deleted points (left) and excluding deleted points (right)
The raw observations can be shown in different colour modes. Of relevance here are the Block
and the Depth colour modes. Block is the default modes that colours the raw data relative to the
block or file that they originate from (source file in the 'Project Tree' window), whereas the depth
mode will colour the points relative to their depths. The latter colour mode is thought to be
particularly useful in connection with cleaning activities.
Point colour mode is defined in the 'View Settings' window under the headline 'Raw Points' as
shown below.

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3.3.4.1 Point Edit 3D Cleaning

The ‘Point Edit 3D’ cleaning tool is a conventional manual editing tool that was originally
developed to be used in EIVAs editing software, NaviEdit. By most users it is here employed on
a file-to-file basis. In NM3 however, it is used to clean areas and might therefore include data
from a number of files.
When the Point Edit 3D Cleaning tool is invoked from the Cleaning Toolbox, the user is
prompted to choose selection tool as shown below, left.

The selection tool gives the user the possibility to choose between cleaning relative to a polygon
or to a line. In both cases, the Boundary Object (or 'Line..') can be selected in the 'Project Tree'
window, by first selecting the object and then pressing the 'Select Boundary' (or '..Line') button,
that will now reflect the choice performed (see above, right). Alternatively the user is given the
possibility to manually mark out a polygon or a line in order to define the area to be cleaned.
In both cases (boundary and line), it is furthermore possible to make the cleaning inside or
outside the selection, by enabling or disabling the 'Outside (Invert)' option.

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For the line selection based cleaning, the line object will be highlighted. Alternatively the user is
given the opportunity to generate/digitize a line manually. Either way, once the line is selected,
the user is supplied with a Corridor Width selection tool. By manipulating the slider bar or by
entering the width values manually, the size of the area relative to the line can be defined as
shown above, left. For the boundary selection based cleaning, the manual boundary definition is
done using the cursor/mouse as shown above, right.
Either way however, once the selection is acceptable to the user, the EIVA Point Edit 3D
cleaning tool will open as shown below in Figure 203.

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Figure 203 Point Edit 3D cleaning

The 3D-based cleaning, in which the user can see portions of the model area includes a series of
tools that can all be easily accessed by use of the mouse (including the wheel of the mouse), from
a single click on a key on the keyboard, from the menu or from icons in the icon bar. The user is
given the possibility, on the basis of the 3D-view, to perform manual cleaning of areas with the
‘Region Eraser’ tool as well as of single points with the ‘Erase Tool’ . It is possible to
move and to rotate the data in the so-called ‘Navigation Mode’ . In this mode it is furthermore
possible to change the scale – horizontally, by turning the mouse wheel as well as vertically, by
simultaneously pressing the CTRL-button and turning the mouse-wheel. Alternatively the
vertical scale can be altered by pressing one of the two icons .
By default only the accepted points are shown. However by pressing the icon, it is possible
to show deleted points. This includes points deleted in the present as well as in previous
cleanings sessions that have included the data in question.
The cleaning can be performed in two different modes 1) Accept Mode and 2) Reject Mode
. The mode can be selected using the two associated icons in the Icon Toolbar. The Reject
mode is the default mode. Here points selected are cleaned (marked for deletion). The Accept
mode works the other way around. Points selected in this mode will be undeleted, except data
that has been deleted in NaviEdit, when the DTM is generated on the basis of a connection to the
NaviEdit database.

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Data can be visualized in two different ways 1) Depth Mode and 2) Block Mode . Depth
mode is shown in Figure 204, right, whereas the same data are shown in block mode to the right
in the figure.

Figure 204 Depth Mode (left) versus Block Mode (right)

Another important visualization feature is the Clipping planes functionality through which it is
possible to isolate certain parts of the data from each other. This could for instance be in
connection with cleaning inside a trench or on both sides of a pipeline. The functionality is
invoked (and disabled) by pressing one of the two buttons (one clipping plane) or (two
clipping planes).
This is all visualized below in Figure 205, in which the cleaning situation with noise around a
pipeline and in front of a rock-dump area is shown without the clipping plane(s), left and with
clipping planes, right.

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Figure 205 Using Clipping Planes

The 3D editor includes a window in which the settings can be defined and visualized (see Figure
206 above). This comprises the (vertical) scale, the size (in pixels) of the data-points as well as
grid-specific settings and light settings. An important setting is associated with the ‘Tool
Toggling’ option. It is possible to choose between ‘Cycling’ and ‘Recent’ options. The two
options are associated with the tools ‘Navigation Mode’, ‘Erase Tool’ and ‘Region Eraser’.
‘Cycling’ will enable toggling between the three tools in sequence by pressing the space-bar.
‘Recent’ will toggle between the most recent of the ‘Erase Toll’ and ‘Region Eraser’ together
with ‘Navigation Mode’. The user should in other words choose the ‘Recent’ option if he/she has
a clear favourite eraser tool and the ‘Cycling’ option if this is not the case.

Figure 206 3D Editor Settings

Once the editing is finalized, close the window and choose the ‘Yes’ option when prompted to
save the changes (see below). This will send the edited and cleaned data back to NM3 where a
re-indexing of the area in question will take place.

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Note that the user interface of the Point Edit 3D Cleaning tool, when activated as part of the
structured cleaning, is identical to what is described above (see chapter 3.3.4.5, Structured
Cleaning for details).

3.3.4.2 Histogram Plane Cleaning

Selection of the ‘Histogram Plane Cleaning’ tool from the Cleaning Toolbox, will activate a
semi-automatic cleaning tool in which cleaning can be performed relative to a polygon-based
plane. The plane is generated on the basis of a user-defined polygon with a minimum of three
corners. Each corner of this polygon is defined by a simple mouse-click on the DTM. Once the
polygon is defined, and the plane is determined as a least squares adjustment relative to the
depths of the corners. The result of the least squares adjustment is the pitch and roll value of the
plane that best fulfills the requirement that the sum of the squares of the corrections to the depth
value of the polygon corners is minimized.
The user interface is divided in two: 1) is a histogram that shows the distribution of vertical
distances between all the individual points and the plane together with two moveable (red)
vertical lines (below and above the plane) that constitute the selection tools (below, left) and 2)
which is a visualization in the DTM-window of the consequences of the present cleaning
selection (below right). Note that the points given in red are marked for deletion whereas green
points are regarded OK (between the two vertical lines).

Figure 207 Plane Distance Selection tool (left) and DTM visualization (right)

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When first opened, NM3 will, as a guide, give proposed maximum and minimum. In order to
assist on the selection, the X-axis is equipped with units that shows the distance between points
and the plane at the top. At the bottom, the x-axis shows alphanumerically, the number of
accepted points as well as the number of points deleted with the current settings of the
maximum/minimum lines.
The Y-axis, in turn shows the number of points with a given distance to the plane, in a histogram
distribution visualization. The scale of the Y-axis is logarithmic (Log10) by default, but it is also
possible, by right-clicking in the window and choosing the menu-item 'Y-axis..' to change this to
a Log2 based logarithmic scale or even to a linear scale. This is visualized below in Figure 208,
that shows identical data as well as cleaning settings with a Log10 based Y-axis (left) and a
linear scale (right).

Figure 208 Y-axis log10 based (left) and linear (right)

Upon completion the selections are accepted by pressing the ‘OK’ button. This action will send
the cleaned data back to NM3 where a re-indexing of the area covered by the plane in question
will take place.
Note that the user interface of the Histogram Plane Cleaning tool, when activated as part of the
structured cleaning, is identical to what is described above (see chapter 3.3.4.5, Structured
Cleaning for details).

3.3.4.3 Spike Shooting Cleaning

The concept of Spike Shooting cleaning is similar to that of Histograms Plane Cleaning, except
that the plane is a circle defined through a single point. The pitch and roll orientation of the plane
is furthermore determined as a least squares fit of the vertical value of the points on the perimeter
of the circle.

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The user interface is divided in two: 1) is a histogram that shows the distribution of vertical
distances between all the individual points and the plane together with two moveable (red)
vertical lines (below and above the plane) that constitute the selection tools (above, left) and 2)
which is a visualization in the DTM-window of the consequences of the present cleaning
selection (below right).
All other aspects of this cleaning tool, is identical to those associated with the Histogram Plane
Cleaning Tool.

3.3.4.4 S-CAN Automatic Cleaning

NaviModel3 supports inclusions of dedicated, user-developed plug-ins for cleaning and anti-
noise determination. The S-CAN (SCALGO Combinatorial Anti Noise) cleaning tool is such a
plug-in. It has been developed in corporation with Center for Massive Data Algorithms
(MADALGO) at the University of Aarhus.
The S-CAN algorithm calculates an initial so-called ‘Noise Score’ for each data point in the data-
set, and the user can then easily and interactively clean parts of (or the whole) dataset by
selecting a region of the data and remove points with high noise scores. The S-CAN algorithm
calculates an initial so-called ‘Noise Score’ for each data point in the data-set, and the user can
then easily and interactively clean parts of (or the whole) dataset by selecting a region of the data
and remove points with high noise scores.
The S-CAN is capable of efficiently processing large datasets that do not match the limitations of
internal memory but must reside on disk. The constant movement of data to and from disc during
the cleaning is not a performance bottleneck and the algorithm can therefore be regarded I/O-
efficient. This is ideal in a NaviModel3 environment, since this is exactly the way data is
organized, both the model-based data, through the governing Quad Tree principle, and the raw
data-points, with the latter being the subject of the cleaning.
The S-CAN plug-in comes in two different variants:

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 The Score variant

 The Components variant

3.3.4.4.1 The S-CAN Components Variant

The S-CAN Components variant separates input observations into series of observations that
fulfil an internal requirement regarding a maximum tolerable height difference (threshold)
between neighbouring points. The series are termed ‘Surfaces’ in the S-CAN terminology. The
minimum height difference between points in a surface and the neighbours in adjacent surfaces is
consequently higher than the threshold.
The principles of the S-CAN Components variant are visualized below in Figure 209, where
three different threshold values are shown together with the consequences of choosing a
particular threshold for the cleaning.
It appears that a large threshold will separate data into few surfaces with high internal noise (top
right). A small threshold on the other hand will divide the observations into more surfaces
(bottom right).

Figure 209 Principles in the S-CAN Components variant

The first step of the cleaning is initiated by pressing the 'S-CAN Components' button in the
Cleaning Toolbox. The user is now prompted to choose selection tool in a way identical to what
is supported in connection with the Point Edit cleaning tool (described in detail in chapter
3.3.4.1Point Edit 3D Cleaning above).
Either way however, once the selection is acceptable, the user will be prompted for threshold
value as well as for number of surfaces, as shown below. Appropriate numbers for this would be
associated with the nature of the seabed and with the TVU accuracy of the survey system, for the
threshold value, whereas a value of 10 or less is normally adequate for the number of surfaces.

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Pressing the 'OK' button will start the initial determination of the score values as shown below.

When the determination is completed and the user presses the 'OK' button, storage of the
components patch will take place. This is visualized in the Job List window as shown below, left.
Once the patch is stored, a new entry will appear in the 'Project Tree' window under the Survey -
Regions entry as shown below right.

This entry constitutes the link to the next cleaning step. Right-click on the filtered entry
(Components in the example) and choose between the two menu-items 'Clean Area (Polygon)'
and 'Clean Entire Area Enter' as shown below. Whereas the Clean Area (Polygon) option will
give the user the opportunity to choose to clean only parts of the area (selection with the
mouse/cursor), the 'Clean entire area' will initiate the second part of the cleaning immediately.

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Figure 210 S-CAN Components variant, selection of surfaces

At this stage, the largest surfaces, in terms of population, are listed, in sequence, in the user
interface, to enable the user to choose which ones to keep (see Figure 210, right). The
consequences of a selection of a surface or a number of surfaces is at the same time visualized
instantly in the DTM window as shown in the figure to the right. Note that double-clicking on
one of the surfaces in the 'Surfaces' selection window will make NM3 jump and zoom to its
position.
Upon completion the surface selections are accepted by pressing the ‘OK’ button. This action
will send the cleaned data back to NM3 where a re-indexing of the area in question will take
place.
Note that if the user decides that the threshold used will not yield acceptable results for the
cleaning, a new score determination, with a new threshold must take place.

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3.3.4.4.2 The S-CAN Score Variant

The S-CAN Score variant is in principle similar to the Components variant. The only difference
is that the Score variant calculates for all thresholds once and for all. However, only one surface
can be used, the rest is marked for deletion. This optimizes the testing of the best possible
threshold value for a given area and it furthermore honors the fact that different areas might
ideally be the subject to different threshold values. In the latter situation, the user will have to
perform the subsequent cleaning selection for each of these areas.
The principles of the S-CAN Score variant are visualized below in Figure 209, where three
different threshold values are shown together with the consequences of choosing a particular
threshold for the cleaning.
This optimizes the testing of the best possible threshold value for a given area. As a
consequence, the Score variant is often faster than the Component variant in overall terms. When
considering the fact that only one surface can be kept, it is worth nothing that with appropriate
data coverage and associated area selection, a pipe and a seabed can often be joined by the Score
variant into the same surface.
Similarly, Component should be used in situations with a larger variety in the seabed features.

Figure 211 Principles of the S-CAN Score variant

The first step of the Score cleaning is initiated by pressing the 'S-CAN Score' button in the
Cleaning Toolbox. The user is now prompted to choose a selection tool in a way identical to
what is supported in connection with the Point Edit cleaning tool (described in detail in chapter
3.3.4.1Point Edit 3D Cleaning above).
Once the selection is acceptable, the initial determination of the score values will commence as
shown below.

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When the determination is completed and the user presses the 'OK' button, storage of the Score
patch will take place. This is visualized in the Job List window as shown below, left. Upon
storage of the patch, a new entry will appear in the 'Project Tree' window under the Survey -
Regions entry as shown below right.

This entry constitutes the link to the next cleaning step. Right-click on the filtered entry (Score in
the example) and choose between the two menu-items 'Clean Area (Polygon)' and 'Clean Entire
Area Enter' as shown below. Whereas the Clean Area (Polygon) option will give the user the
opportunity to choose to clean only parts of the area (selection with the mouse/cursor), the 'Clean
entire area' will initiate the second part of the cleaning immediately.

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Figure 212 S-CAN Score variant, selection of threshold

When the area selection is performed, the user is presented with a slider, through which it is
possible to define the threshold. This can also be done by manual insertion in the threshold box
as shown in Figure 212. The consequences of a threshold selection is at the same time visualized
instantly in the DTM window as shown in the figure to the right.
Upon completion the threshold selection is accepted by pressing the ‘OK’ button. This will send
the cleaned data back to NM3 where a re-indexing of the area in question will take place.
Note that, as opposed to what was the case in connection with the Components variant, a re-
determination of the threshold value is never required for the Score variant. The downside of this
is that if it is not possible to find a solution that will remove all undesired data and at the same
time keep all data of relevance, the Components variant must be used.
Most often combining the two variants will yield an optimum solution, with Score being used as
priority 1, because of its effectiveness, and Components used in the remaining, more complex
areas. In many situations, even the manual cleaning tools might be brought into use as a finishing
remedy.

3.3.4.4.3 S-CAN Cleaning During Import of Data

NaviModel3 includes a functionality that allows the user to perform automatic cleaning, using
the S-CAN Score variant, during import of data onto a DTM. The settings to apply can be
defined by pressing the 'Options...' button on the DTM settings dialogue, that constitutes the first
step of the importing.

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NaviModel3 will start indexing the model, based on the data that is used to generate the model.
Once this has been accomplished, the cleaning process will commence automatically. NM3 will,
line-by-line (or file-by-file), first calculate the score values, line-by-line (or file-by-file) and then
it will apply the score threshold.
Since the cleaning does not take information from overlaps between files into consideration, the
feature must be considered particularly useful in connection with route surveys, with no overlap
between files in the sailing direction.
A special variation of the file-by-file Score cleaning can be conducted from the 'Project Tree'
window, under the Surveys - Source Files entry as shown below. By right-clicking on a source
file and choosing the menu-item Calculate 'S-CAN Score', determination of the initial score
values, associated with the particular source file, will automatically commence.

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When subsequently choosing the menu-item 'Clean Block', the threshold selection slider bar will
appear, thus enabling the second part of the Score cleaning.

3.3.4.4.4 The S-CAN Control Panel

The S-CAN Control Panel, accessed from the Cleaning Toolbox facilitates the definition of
various settings for the execution of the S-CAN automatic cleaning functionalities. The items to
be defined are:
 Location of temporary data is used whenever the data to be cleaned can not be contained
in the RAM of the computer. To optimize the performance, it is recommended that the
temporary/swap file is located on a fast and large storage medium
 Action to take when available space drops below a given threshold is also used to
optimize the performance of S-CAN
 Maximum memory use should be used with care. On the one hand side it is important to
have as much capacity assigned for the S-CAN algorithm as possible, however, as it is
stated in the dialogue: the amount allocated ... Should preferably be close to, but less than
the available amount of physical memory... available

3.3.4.5 Structured Cleaning

Structured Cleaning is initiated from a displayline (.dis) object in the ‘Project Tree’ window.
Right-click on the displayline in the window and choose the menu-item ‘Create Structured
Cleaning Objects’ as shown in Figure 213, below left.

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Figure 213Create Structured Cleaning (left) and Choose Structured Cleaning method (right)

This action will subdivide the displayline object into a series of areas that, by average, contain 2
million points. These new areas are available below the displayline object in the ‘Project Tree’
window as shown in Figure 213, right and will also be visualized in the DTM window. By right-
clicking on these objects, it is possible to choose either ‘Point Edit 3D’ cleaning or ‘Plane
Cleaning’ (same as 'Histogram Plane Cleaning') from a menu. Once a cleaning has been
conducted, a note will be available on the object in question as shown below (left) as well as in
the DTM window, below right. The outline of the area will furthermore change color from red to
yellow when one type of cleaning has been conducted and further on to green when both types of
cleaning have been carried out.

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3.3.4.6 Un-deletion of Cleaned Data

NaviModel3 will maintain a list of cleaned actions/regions under the Survey entry in the 'Project
Tree' window. Each time a cleaning action is performed, a new entry will be appended to the list,
including a running number, in sequence, with a descriptive label, as shown below in Figure 214,
left.

Figure 214 Housekeeping of the Cleaning Actions, left and visualization of point (Good and Deleted), right

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Right-clicking on one of the entries with give the menu shown in the figure, left. From here it is
possible to move to the area in question, by choosing 'Move To'. Once this has been
accomplished, the 'Toggle Raw Points on/off' option in the NaviModel3 Standard Toolbar will
give a good visualization of the raw points, including the deleted ones, associated with the
cleaning action: the latter is visualized in Figure 214, right, in which the deleted points are shown
as black and the accepted ones are visualized relative to their depths.

When highlighting a cleaning entry, the properties will be shown in the 'Properties' window as
shown above. In the example it appears that the cleaned region contains 450646 accepted points
and 11800 deleted ones.
NaviModel3 will in other words not actually delete the raw points when a cleaning action is
conducted. It will merely mark or flag the points as deleted. As a consequence of this, the
software facilitates un-deletion of cleaned points.

Figure 215 Deleted/cleaned versus filtered data in the DTM window (left) and definition of colour (right)

In that context a distinguishing between filtered data and cleaned data must be observed. Filtered
data are data that have been cleaned in NaviEdit, prior to being loaded into NaviModel3, whereas
deleted data (or cleaned data) are data that have been cleaned within NaviModel3. As shown in
Figure 215 above, it is possible to visualize whether points have been the subject of filtering or

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of cleaning, by changing their view settings in the 'View Settings' window. In the example, the
deleted points are shown as black, whereas the filtered points have been given the colour
'Firebrick'.
The un-deletion functionalities implemented into NaviModel3 are only associated with the
deleted/cleaned data.
Un-deletion can be performed in different ways:
 By deleting the cleaned region entry in the 'Project Tree' window (by using the 'remove'
option)
 By choosing one of the un-delete features included in the Cleaning Toolbox ('Undelete
(Polygon)' and 'Undelete Everything...')
When choosing the first option NaviModel3 will remove the cleaning entry from the 'Project Tree'
window and re-index the DTM with the 'new' data. This is visualized below, in which the data
marked as deleted in Figure 214 above, has been un-deleted. Observe how not only data that is
shown as raw has been undeleted, but also DTM data in the lower left window has been recovered
(visualized with red circles).

Un-delete from the Cleaning Toolbar menu is not directly related to any previous cleaning action.
Un-deletion relative to a user defined area (polygon or line), similar to what is described previously
in chapter 3.3.4.1, Point Edit 3D Cleaning is facilitated from the 'Undelete (Polygon)' button. All
cleaning actions inside (or outside, if the 'Invert' option is selected) will be reset as a consequence
of the action and the DTM will be re-indexed accordingly.

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The un-delete everything will finally un-delete all cleaned regions in the present survey. Since the
action cannot be un-done, the user is given the warning shown below.

3.3.4.7 Cleaning Reporting

NaviModel3 keeps trace of which cleaning actions have been performed in a certain survey
model (DTM). This trace information can be used to generate a cleaning report, as shown below
in Figure 216.

Figure 216 Cleaning Report

The report is generated, by right-clicking on the survey entry in the 'Project Tree' window and
choosing the menu-item 'generate Report'. As it appears from Figure 216, the report contains a
list, in sequence and including data and time of all cleaning actions conducted, including the un-

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delete actions, since the DTM was first generated. The information embrace, besides data and
time information about the user, details on which cleaning tool has been utilized as well as the
number of points cleaned.

3.3.5 Digitizing Methods

The digitizing functionalities are invoked from the ‘Digitized Lines’ entry under item ‘Toppings’
in the ‘Project Tree’ window as seen below in Figure 217. Alternatively, specifically for pipe-
associated tasks, the ‘Pipe Toolbar’ hosts dedicated functionalities for digitization of pipe related
objects.

Figure 217 Digitized Lines menu, left and Line name dialogue (right)

3.3.5.1 New Digitized Line

Selecting the 'New Digized Line...' menu-item will generate a digitized line under the ‘Digitized
Line’ node in the ‘Project Tree window’ in accordance with the name selected in the Line name
dialogue that will automatically pop up (see Figure 217, right). The line will immediately be
equipped with a series of properties as seen below in Figure 218, left. One of these is referring to
the type of the line. The property for this item can be chosen from a drop-down-list as shown in the
figure.

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Figure 218 New Digitized Line Property, priot to digitizing (left)

It is possible to choose the option ‘None’, which is the default property, and then select from the
list at a later stage.
Once the properties have been defined, the cursor can be moved to the DTM window. Here it will
appear as a bull’s eye with a white arrow down as shown below in Figure 219. Left-click will start
the digitizing process. For each new additional segment of the digitized line, the user should
perform a left-click. To end the process, either double-click with the left button or press the ‘Esc’
key on the keyboard. The first action will add a new segment that ends in the position of the
‘double-click’, whereas the latter will end the digitized line at the position of the latest point.
To assist in the digitization, the relative range and bearing from the previous point in the line to the
present position of the cursor is visualised, as shown below in Figure 219.

Figure 219 Digitizing New line

3.3.5.1.1 Editing the Digitized Line

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A series of tools are facilitated for the editing of the digitized line.
Moving an already digitized point is accomplished by clicking on the point in question and
subsequently moving it in the horizontal plane, by moving the lower ball and in the vertical plane,
by moving the top ball up and down.
To remove a misplaced point, click on the point in question. It will be marked yellow and can now
be deleted by pressing the ‘Delete’ key on the keyboard.
To place a new point in-between two points, double-click on the ball either before or after the new
point. It is now possible to place an unlimited number of points between this point and one of its
two neighbouring points (see Figure 220 below). Remember to stop adding points, either by
double-clicking or by pressing the ‘Esc’ key on the keyboard, before the next original point is
reached.

Figure 220 Adding Points to a Digitized Line

A digitized line can also be extended at both ends. This is accomplished by double-clicking on the
ball from where the extension should be made. The action to take is now identical to what is done
in connection with a normal digitization.

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3.3.5.1.2 Creating Toppings from a Digitized Line

Figure 221 Digitized Line menu (two versions)

As it appears from Figure 221 above, the menu that appears when right-clicking on a digitized line
in the ‘Project Tree’ window, is quite comprehensive. The various items have been sorted as it
appears in logical groups, some even in a submenu with a common headline.
Most of the items are more or less self-explanatory. Of the remaining items, the primary items of
interest, in the present context, are however the ‘Export along line’ and the ‘Create runline’ menu-
items, that have both been highlighted in the figure above. Note at the same time the difference
between 'Export..' and 'Export along line...'. The first item is more to be considered an area based
exporting function.
Choosing the ‘Export along line’ function, will open the ‘Export’ dialogue, as seen below in Figure
222.

Figure 222 Export Dialogue with drop-down items

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The drop-down-list for a digitized line based export is also shown in the figure. It is in other words
possible, on the basis of a digitized line, to generate profiles (cross and long) as well as track-
information (without time), pipe-tracker information and a runline file (*.rln). The latter export is
identical to the ‘Create Runline’ menu-item, that can be accessed directly from the ‘Digitized Line’
menu as shown above in Figure 221.
Note that, even though the description of the 'Export along line' functionality is given here relative
to a digitized line, identical exports can be performed with respect to all line items that have been
loaded into NaviModel3. This could be a display line or a runline.
Further details on exporting are given below in chapter 3.3.6, Exporting. Details on generating a
pipe object, using the digitization tools are given in the dedicated Pipe Inspection Tutorial.

3.3.6 Exporting
Exporting from NaviModel3 comprises the creation of data that can be used for further processing,
typically in NaviPlot. Exporting can be associated with different toppings, such as:
 a runline object
 a pipe object
 a digitized line object
 a displayline object
 a chart or a chart definition series
Whereas exporting from the first four toppings types mentioned in the list will utilize the ‘Export
along line’ function, the two latter employ the ‘Export’ function, that is rightfully an area based
export function.

3.3.6.1 The ‘Export along Line’ functionality

The ‘Export along line’ functionality can be invoked by right-clicking on a runline object, on a
pipe object, on a digitized line object or on a displayline object in the ‘Toppings’ entry of the
‘Project Tree’ window and choosing the ‘Export’ menu-item on the menu that will appear as
shown below in Figure 223 for a runline based export.
Note how the menu given in Figure 223 differs from the one above in Figure 222, that is associated
with a digitized line object.

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Figure 223 Invoking the ‘Export’ dialogue (from a runline object)

Either way however, the ‘Export’ dialogue that now appears will look as shown below in Figure
224.

Figure 224 'Export' dialogue

The export-formats available will however depend heavily on the object in question. The drop-
down-list for a pipe object based export is depicted below in Figure 225, left, whereas it would
appear as shown below right for a runline based export.

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Figure 225 Formats available in 'Export' dialogue - based on pipe (left) and on runline (right)

The formats can be selected automatically from the drop-down lists. In case a format requires some
special settings, two arrows (right and left) will appear to the right in the dialogue window. When
pressing the arrow-right, the items with options that can be altered will appear, whereas the options
can be hidden again by pressing the arrow-left as it appears in Figure 226 below.

Figure 226 'Export' dialogue with options exploded

Observe furthermore how pressing the 'Format description' button will open a help pdf-document
that describes the export formats available. The document is furthermore generic in the sense, that
it only describes the formats that are available for the export object in question. This is visualized
below in Figure 228 left, in which the formats associated with a pipe object are listed in the Table
Of Contents, whereas Figure 228 right lists the formats associated with a runline object. Try to
compare this to Figure 225 above.

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Figure 227 Export Format Help

Figure 228 Export Format Help, TOC based on pipe (left) and on runline (right)

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3.3.6.1.1 Generating new template

It is possible to generate a new generic exporting format, by using the ‘New Template’ button as
shown in Figure 226 above. When doing so, the empty window shown below in Figure 229 will
appear.

Figure 229 Export Template Generator window

The window has a series of settings that must be defined for the template to work properly, such
as:
 Item:
o Can be selected from a comprehensive drop down list
o Format of item can be defined among a series of predefined formats (press the
‘Format’ text for a list of definitions
o ‘Add’ – pressing this button will add the item to the list
o Clicking on the headline of an item will delete it from the list
 Column separator. The item desired can be entered manually from the keyboard
 Row separator. The item desired can be entered manually from the keyboard
 Header Editor. Pressing this button will open the window below in which it is possible to
define a header from three different selections: 1) No header, 2) NaviModel Header and 3)
User Defined header. In the latter case, a series of predefined fields can be selected from a
drop-down-list

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 Format name. Entered manually from the keyboard

 Extension. Entered manually from the keyboard
 ‘Save Template’ will save the template. This action will make it available from the drop-
down format list in subsequent sessions

Figure 230 Template (above) and available in 'Export' dialogue (below)

3.3.6.1.2 Generating New Batch

The ‘Export’ function also has a batch exporting functionality built-in. This is invoked by using
the ‘New Batch...’ button as shown in Figure 226 above. When doing so, the empty window
shown below in Figure 231, left will appear.

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Figure 231 Batch Exporting window, empty (left) and with a new batch defined (right)

A variety of actions can now be defined by adding from the drop-down list. This list is identical to
the drop-down format list available in the ‘Export’ dialogue. So by choosing from the list and by
pressing the ‘Add’ button, a list of exports can be defined. By giving the Batch job an appropriate
name and by subsequently pressing the ‘Create’ button, the job will be made available for future
exports from the drop-down format list in the ‘Export’ dialogue as shown below in Figure 232.

Figure 232 Batch Export created (top) and available in 'Export' dialogue (bottom)

Once the batch export has been created, the file ExportCollections.txt, that is located in the
..NaviModel 3\bin folder will be updated accordingly, as shown below.

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3.3.6.2 The ‘Area Export’ functionality

The dialogue for the topping types (displayline and chart) is almost identical with the difference
being that in connection with a chart-based export, the user has to define the cell size in the
properties for the chart, whereas this is done as part of the dialogue when exporting from a
displayline object.
The ‘Area Export’ functionality in invoked by right-clicking on the relevant object (displayline file
or chart (series)) in the ‘Project Tree’ and choosing the menu-item ‘Export…’ as visualised below
in Figure 233, left. This action will open the ‘Area Export’ dialogue, shown below in Figure 233,
right. Since the export in the example takes place relative to a displayline object, the user will
however prior to that be prompted for a cell-size for the export (see below).

Figure 233 Export menu-item (left) and Export Dialogue, General tab (right)

The ‘Area Export’ dialogue has a series of tabs that are active if they have been selected in the
initial ‘General’ tab. In Figure 233, right all tabs have been selected. Consequently all associated
tabs have been marked active with a green bubble. Otherwise the un-selected tabs would have been
indicated with a red bubble. Note that for each export types selected, a name must be chosen. AT
the same time the Target Folder must be defined. The default value here is associated with the
project folder settings.

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Figure 234 ‘Area Export’ Dialogue, Image tab (left) and Grid tab (right)

In the Image tab in Figure 234 above left a series of items regarding the exporting of the
georeferenced bitmap can be defined:
 the bitmap type is always png
 the terrain color can either be based on one of the palettes defined or it can be based on a
solid colour, that can be defined as part of the dialogue
 background colour must be defined as part of the dialogue. Default is white
 light settings can be enabled/disabled with the settings for azimuth and height specified. The
overall light settings includes dedicated definitions for shininess, brightness and shade
The Grid tab in Figure 234 above right facilitates the definition of the direction of the vertical axis.
The user can choose to maintain or to flip this direction, relative to the definition contained in the
DTM (‘Flip Z-direction’). Furthermore the output can be given in geographical coordinates
(Lat/Lon). Either way however, the output will be based on the active DTM, meaning that the
output will always be based on the model type presently selected and on the cell size.

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Figure 235 ‘Area Export’ Dialogue, Soundings tab (left) and Contours tab (right)

The Soundings tab in Figure 235 above left facilitates the definition of direction of the vertical axis
for the output. Furthermore the output can be given in geographical coordinates (Lat/Lon).
Irrespective of these selections, the output will be the raw cleaned observations available in the
project.
In the Contours tab in Figure 235 above right a series of items regarding the exporting of the
Contours can be defined:
 maximum and minimum contour interval
 number of iterations (‘Smooth’). The more iterations, the smoother the contour
 minimum contour length (‘Remove small’) defines the maximum allowable length of any
contour line
 in range interval, a maximum minimum range can be defined

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Figure 236 Export Dialogue, Bathy Plot tab (left) and Project Settings, Misc Settings tab (right)

Finally, in the Bathy Plot tab in Figure 236 above, left some items regarding the exporting of the
Bathy Plot can be defined:
 Grid Settings:
o direction of grid for export
o interval in X-axis direction between points to be exported
o interval in Y-axis direction between points to be exported
 Point Settings:
o Model Type for the export
o Include minimum and maximum
o Use raw points option. If disabled: make DTM-based output. When raw points are
used, a search circle with the radius specified is used to find the values
o Grid the output. If ‘Enabled’, the output will be moved to the position of the cells.
Otherwise the actual position of the points will be maintained in the output
The export files will, by default, be located in the position specified in the ‘General Settings’ tab
of the Project settings dialogue under the ‘Export Path’ option. The dialogue is invoked with the
menu-item ‘Tools – Project Settings...’, as shown in Figure 236 above, right.

3.3.6.3 Special Function for Displayline Export

A special case has been introduced for the export relative to a displayline object:
 A displayline can have different levels
 First level is constituted by the outline of the object
 Second level is inside first level

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 All successive levels are inside the previous level

 From second level and upwards a level can consist of more than one polygon
 Uneven levels (first, third etc.) are included in the export (contours, bitmaps etc)
 Even levels are excluded. This is also valid for level 0, which is defined as the level outside
the first level
The approach is also used in connection with volume calculations (see chapter 3.3.8 below). The
figure below depicts a displayline inside the DTM window (Figure 237, left) and the associated
exported bitmap (Figure 237, right). The displayline consist of two levels.

Figure 237 2 displayline levels for exporting. The exported georeferenced bitmap shown to the right
Figure 238 below shows the identical area, now with more and extra complex levels. Observe that,
in addition to the two levels in Figure 237, there are three polygons in level three and inside the
‘Third Level, 3’ polygon there is an additional fourth level polygon. Compared to Figure 237, all
level three polygons have been added, whereas the level four polygon has been subtracted, as
expected.

Figure 238 Displayline with complex levels. The associated georeferenced bitmap shown to the right
There are no specific requirements as to how the displayline must be generated for the functionality
to work, since the routine works as follows, in sequence:
 All polygons are closed

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 Each cell/pixel is investigated by counting the number of lines to cross when moving
towards east
 If an even number of lines is crossed, then the pixel/cell is excluded
 If and uneven number of lines is crossed, then the pixel/cell is included

3.3.7 Contouring
The facility to generate contours can be invoked from two different locations within NM3:
 through the exporting function as described above in chapter 3.3.6, Exporting
 via a chart object or a line object
The method applied to generate contours on the basis of a chart object is in principle identical to
the method used with a display line object.
To generate contours on the basis of a chart object, right-click on the appropriate chart in the
Toppings entry of the ‘Project Tree’ window and choose menu item ‘Create Contours’ as shown
below Figure 239, left.

Figure 239 Chart menu with 'Create Contours' option (left) and ‘Contours’ dialogue (right)

The dialogue shown in Figure 239, right pops up. Here a series of items regarding the exporting of
the Contours can be defined:
 intervals for minor and major contours, respectively (1 m for both in the example)
 number of iterations (‘Smooth’). The more iterations, the smoother the contour (a value of
100 is used in the example)
 minimum contour length (‘Remove small’) defines the maximum allowable length of any
contour line (10 m in the example)

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 in range interval, a maximum minimum range can be defined. Alternatively will determine
all contours of the DTM, with the area defined and with the intervals chosen
When pressing the ‘Create’ button, NM3 will start generating the contours in accordance with the
selections. When this has been accomplished, the new contours will show in the DTM window,
superimposed on the DTM. A contour entry will furthermore appear in the ‘Toppings’ entry of the
'Project Tree' window as shown below in Figure 240. When exploding this entry, it appears that
there is an entry for each contour level as well as an entry for each polygon created within each
contour level.

Figure 240 Contours generated

When right-clicking on the contours entry, a dedicated contour menu will appear as shown in
Figure 241 below. The major ones are highlighted with a red circle in the figure.

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Figure 241Contour Menu

The menu facilitates a series of functionalities associated with the contours generated:
 Smooth.. (in submenu 'Manipulate')
 Removing of small curves
 Create Filled Contours
 Save contours as dxf and .nmc (including .tin)
 Creation of ESRI shape file (with contours)

Figure 242 Smoothing (left), smoothing with history (middle) and Remove Small (right)
The smoothing function will open the window shown above in Figure 242, left. Observe that the
smoothing (iteration) is added onto the already conducted smoothing – in the present context the
smoothing conducted when the contours were generated. So by entering a value of 25, 5 additional
smoothing iterations will be conducted. Also observe that the entire history of smoothing on the
present contours is available as seen in the middle.
The remove small curves functionality is identical to the initial ‘Remove Small’ function described
above, in which the maximum allowable length of any contour line is defined. The various 'Save
as...' functions facilitate saving of the contours, with the present smoothing and remove settings in

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a variety of formats, such as *.dxf, *.shp or as *.nmc files, with the latter being EIVAs proprietary
format for contours that is also supported in NaviPlot.

3.3.7.1 Generating Filled contours

The selection of ‘Create Filled Contours’ will start the generation of filled contours on the basis of
the highlighted contours and with the present smoothing and remove settings.
Once the filled contours have been generated, they are visualised in the DTM window as shown
below in Figure 243. The colourcoded contours are TINs that can be saved together with the
contours by right-clicking on the relevant contour entry under the Toppings node in the ‘Project
Tree’ and choosing the appropriate menu-item, as shown below in Figure 243.

Figure 243 Filled Contours generated

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3.3.8 Volume & Area Calculations

Within NaviModel3, volume & area calculations can be initiated, from the ‘Project Tree’, in a
variety of ways:
 directly from a survey object
 directly from a displayline object
 indirectly by generating a difference model and subsequently using one of the two direct
methods above
 by using the end area volume calculation method
Volumes can thus be generated either on the basis of a single DTM-model or on the basis of two
models. In the latter case, the difference model between the two models can be made to ease the
calculations and the associated visualisations. Alternatively, NM3 is capable of automatically
generating a difference volume report on the basis of two different models.
When the volume calculations are performed relative to a displayline object (*.dis), the volume
calculation functionalities, can utilize the methods described in chapter 3.3.6.3, ‘Special Function
for Displayline Export’, in order to include/exclude subareas in the volume- and area
determination. Note that when doing this, the actual model itself will remain undisturbed by the
volume calculation.

3.3.8.1 Volume Calculations from a survey object

The function is initiated by a right-click on the survey object. The menu below will appear, that
allows the choice of either the ‘Calculate Volume’ or the ‘Calculate Volume Report’.

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Choosing the first option will make NM3 calculation the volume of the entire model, with the
resolution/cell size selected when generating the model, relative to another model residing in NM3
as shown below.

The output of the difference calculation is given in a simple information window (Figure 244, left)
as well as in the ‘Log’ window as shown below in Figure 244, right.

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Figure 244 Volume Results

A much more comprehensive calculation is performed when selecting the ‘Calculate Volume
Report’ option. This will invoke the ‘Volume Report Generator’ that is described in the following.

3.3.8.1.1 The Volume Report Generator

When the volume reporting is activated by right-clicking on a survey object, the user is first
prompted to choose which models to compare as well as the boundary (displayline) to use for this.
For the boundary, one of the models can be used. In that case the outline of that particular model
will be generated and used as part of the volume calculation.
All required are defined via the dialogue shown below. Observe that it is possible to choose the 0-
level as Model 2.

The actual dialogue/window associated with the volume reporting is divided into three tabs:
 The General Tab: in here general items are identified. At the same time the user must specify
which part of the volume calculation result that should be included
 The Standard Report Tab: contains items associated with input for the volume calculation
 The Enhanced Report Tab: selection between various enhanced items (geodesy,
maximum/minimum values etc.) is facilitated
If the standard report and/or the enhanced reports have not been specified in the general tab, they
are marked with a red bubble. Otherwise the selected tabs are indicated with a green bubble. The
principle is identical to what is used in connection with the ‘Export’ functionalities, described in
chapter 3.3.5 above.

3.3.8.1.1.1 The General Tab

An example of the ‘General’ tab is given below in Figure 245.

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Figure 245 The General tab

Here the following must be defined:
 Report file-name & -path. The reports are always generated as pdf-files
 Definition of image file to include (Company Logo or similar)
 Additional report types to include (Standard and Enhanced reports)
 Header information, including: Project Name, Project ID, Client, Company etc.
 Details regarding what to include in the volume result, such as: Cut volume, Fill volume etc.
 Resolution of results

3.3.8.1.1.2 The Standard Report Tab

An example of the ‘Standard Report’ tab is given below in Figure 246.

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Figure 246 The Standard Report tab

Here the user must identify what to include among the following items:
 For the models (1 and 2):
o Model type, Model Name Model characteristics, Acquisition characteristics
(manual input)
 For the boundary:
o Boundary type, Boundary Name, Boundary characteristics

3.3.8.1.1.3 The Enhanced Report Tab

An example of a filled out ‘Enhanced Report’ tab is given below in Figure 247.

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Figure 247 The Enhanced Report tab

Under this tab, identification of what to include among the following enhanced items, is facilitated:
 Source file(s)
 Correction of volume for average horizontal scale (optional)
 Vertical reference information (can be typed in manually)
 Maximum/minimum values for Easting, Northing and Height
 Geodesy Information
 Screen Dump showing a graphical presentation of two models

3.3.8.1.1.4 The Report

Once the settings are acceptable in all tabs and the ‘OK’ button is pressed, the calculations and the
subsequent reporting will commence. Upon completion, associated information is given as shown
below.

The three pages of the report look as shown below in Figure 248 and in Figure 249.

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Figure 248 Volume Report, pages 1 and 2

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Figure 249 Volume Report, page 3

3.3.8.2 Volume Calculations from a displayline object

To activate the volume calculation from a displayline object, right-click in the displayline object
under the ‘Toppings’ entry and choose menu-item ‘Calculate Volume' as shown below in Figure
250. The function will calculate volumes, areas and average height relative to the 0-level for all
surveys residing in the project. Observe that the results are related to the modeltype presently
selected for each survey. The result can be seen in the ‘Log’ window as shown below in Figure
251. Note that the example is related to a project with 8 different surveys (models).

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Figure 250 Calculate volume from displayline object

Figure 251 Volumes relative to displayline object

3.3.8.3 Indirect Volume Calculation

The indirect volume calculation method requires that a difference model is generated as step
number one. This is done by right-clicking on the Survey entry in the ‘Project Tree’ window and
choosing the menu-item ‘Create Difference model…’ as shown below in Figure 252, left.

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Figure 252 Create Difference model (left) and selection of input Model Types (right)

The window to the right in Figure 252 facilitates selection of input model types as well as of cell
size for the target difference model. Observe that all model types for each of the models residing
in the project are available for selection. When pressing the ‘OK’ button, the user is prompted for
location and file name for the new model. When this is established, the generation of the new
model will commence. Upon completion, the new model will be loaded into the project as can be
seen below in Figure 253, left. Note that the new model is called Diff.db. By right-clicking on
the survey and choosing the menu-item 'Info Window', the information window, that contains
information about maximum/minimum Easting, Northing and Depth coordinates is opened. This
is shown in Figure 253, right.

Figure 253 Difference model, left and information window associated with the difference model, right

The difference model can now be treated as any other survey and volumes can be generated
relative to the 0-level either directly from a survey object or from a displayline object. The

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results given below are originating from a volume calculation associated with a displayline
object.

Figure 254 Volume and Area calculations, including difference volume

3.3.8.4 End Area Volume Calculation

The extended volume calculation method is a function specially suited for channels, trenches or
gravel dump. It provides facilities to calculate volumes by comparing theoretical models with
Models generated either on the basis of multi- or of single-beam data.

Figure 255 Two models and a runline loaded for End Area Volume calculation

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The functionality requires in other words two DTMs to be loaded, one of those preferably to be a
design/theoretical model. In addition, a runline must be loaded. This is visualized in Figure 255
above.
In order to invoke the routine, right-click on the runline object under Toppings in the ‘Project
Tree’ window and choose the menu-item 'Calculate Crossprofile volume...' as shown below in
Figure 256, left.

Figure 256 Calculate Crossprofile volume menu item (left) and ‘Create Crossprofile Voles’ dialogue (right)

The dialogue to the right in Figure 256 will now appear. In here the following must be specified:
 Survey DTM and Reference DTM
 Start KP and End KP
 Profile distance: Distance between profiles in the calculation can be inserted here
 Profile width: the width of each profile can be inserted here. This value is usually the same as
the width of the theoretical channel
 The Tolerance: here the requirements to dredging tolerance (or alternatively to survey
accuracy). If the tolerance is set to .2 m as in the example, the program will calculate
volumes for a depth values of 0.2 m above the survey as well as for 0.2 m below the survey in
addition to the volume calculation related to the survey itself
When pressing the ‘OK’ button in the dialogue, NM3 will perform a calculation and generate the
results. These will be visualized as a new entry under toppings in the ‘Project Tree’ window as
shown below in Figure 257.

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Figure 257 Volume has been generated

Observe the red circle that shows the new entry that is named ‘CalculateXPVolume’. Also note
that each of the cross profiles are visualised in the DTM window as a blue lines. The cross
profiles are furthermore generated and shown relative to both models used in the calculation (see
Figure 258 below).

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Figure 258 Cross profiles for both DTMs

In order to save the volume calculation, right-click on the ‘CalculateXPVolume’ entry and
choose menu item ‘Export (vol.)’ (see below). Choose an appropriate name and note that the file
extension will be vol. This means that such a file will be associated with the ‘Display Profile’
program, provided NaviModel2 has been installed. To visualize the results of the volume
calculation, it is therefore enough to double-click on the file from Windows Explorer. The
window below in Figure 259 will appear, showing an overview of the profiles and calculation at
the bottom half and all theoretical profiles at the top half of the view.

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Figure 259 Simultaneous visualisation of all theoretical profiles

By pressing the ‘Go to Last KP or Survey’ button in the icon bar, the view will change so
that all survey profiles will be visualised. This is shown in Figure 261 below.

Figure 260 Simultaneous visualisation of all surveyed profiles

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By pressing the ‘KP step mode’ button in the icon bar, the view will change to show
individual profiles together with the associated volume calculations, as shown below in Figure
261.

Figure 261 Visualisation in KP step mode

In the example it appears that the program has calculated 95 profiles (see upper part of Figure
259 and Figure 261) with a width of 300 m equally spaced around the runline.
It is furthermore evident that first profile is calculated at KP 0.025, so the first calculation is
performed between KP 0.000 (KP 0.025 – ½ * Profile Distance) and KP 0.100 (KP 0.025 + ½ *
Profile Distance). The profile shown above in Figure 276 is consequently the third profile, since
there are 50 meters between the profiles. The second profile is thus at KP 0.075.
To step through the profiles, the icons in the Play Bar can be used with the
options one-by-one, play, play fast, backwards and forwards.

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Figure 262 End Area Volume Results

With reference to Figure 262 above, the following comprise the results of an End Area Volume
Calculation:
1. KP: is the kp of the present calculation/profile
2. Interval size: is the size of each interval/section
3. Tolerance: expresses the requirements to dredging tolerance (or alternatively to survey
accuracy)
4. The x-value for the cross profile intervals that are calculated and shown for QC purposes.
By default the interval is 2.5m and since the corridor was 300 m the DX value will be: -
150.0 -147.5 -145.0. However, as can be seen, only entries with valid values will be listed
5. The depth from the theoretical model is shown for each cross profile interval
6. The depth from the surveyed model is shown for each cross profile interval
7. Header for the Cut Calculations
8. The area calculations, related to cut profiles, from left to right:
a. Area for present profile
b. Area for present profile + tolerance
c. Area for present profile – tolerance
d. Sum of area
e. Sum of area + tolerance
f. Sum of area - tolerance
9. The volume interval calculations, related to cut profiles, from left to right:
a. Volume for present profile
b. Volume for present profile + tolerance
c. Volume for present profile – tolerance
d. Sum of volume
e. Sum of volume + tolerance
f. Sum of volume - tolerance
10. The conventional volume calculations, related to cut profiles, from left to right:
a. Conventional volume for present profile
b. Conventional volume for present profile + tolerance
c. Conventional volume for present profile – tolerance
d. Sum of conventional volume

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e. Sum of conventional volume + tolerance

f. Sum of conventional volume - tolerance
11. Header for the Fill Calculations
12. The area calculations, related to fill profiles, from left to right:
a. Area for present profile
b. Area for present profile + tolerance
c. Area for present profile – tolerance
d. Sum of area
e. Sum of area + tolerance
f. Sum of area - tolerance
13. The volume interval calculations, related to fill profiles, from left to right:
a. Volume for present profile
b. Volume for present profile + tolerance
c. Volume for present profile – tolerance
d. Sum of volume
e. Sum of volume + tolerance
f. Sum of volume - tolerance
14. The conventional volume calculations, related to fill profiles, from left to right:
a. Conventional volume for present profile
b. Conventional volume for present profile + tolerance
c. Conventional volume for present profile – tolerance
d. Sum of conventional volume
e. Sum of conventional volume + tolerance
f. Sum of conventional volume - tolerance

3.3.9 TVU Analysis Tool

The Total Vertical Uncertainty Analysis Tool in NaviModel3 has been designed to facilitate a
determination of the quality of a hydrographic survey. The part of the quality that is investigated
is the Total Vertical Uncertainty (TVU). The hydrographic data to be tested could either be
acquired by means of single-beam or by multi-beam techniques.
The basis of the analysis is a base model that must be superior, in terms of TVU, to the survey-
spread that is to be tested. In the present context, the base model is termed the ‘Reference
Model’. The survey-spread to be tested is termed the ‘Test Survey’.
Further details on the TVU analysis tool are found in the dedicated manual, that can be found in
the EIVA Training & Documentation Site (http:/download.eiva.dk/online-training/TVU_TOOL_NM3.pdf).

3.3.9.1 Creating a Reference Model

Bearing in mind that the TVU analysis tool is based on comparing a survey line against a
reference model, it is of the outmost importance to attain a good, superior reference model. This
can be achieved in different ways:

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 By utilizing a superior survey configuration (calibration, acquisition method, instrumentation

etc.)
 By surveying the area with multiple lines and in a variety of directions
 By thoroughly cleaning and editing the data acquired
The ideal method is to do a combination of the three. As a minimum, however, it is
recommended to perform the survey several times over the same area, in multiple directions with
a substantial overlap. Before the TVU analysis is done the complete survey system must however
be completely calibrated. This includes validation/calibration of attitude sensors as well as
performing a patch test through which the mount angles of the multibeam transducer are
determined.
The acquisition of the data could be accomplished as depicted in Figure 263, below. Observe
how the data have been acquired in directions perpendicular to one another. In an ideal situation,
all survey lines must be run twice, in opposite direction. A line-spacing that allows for full
coverage in all directions must furthermore be employed.

Figure 263 Survey Example for Reference Model

The reference model must be generated as a DTM in NaviModel3. Prior to performing the TVU
analysis, the data must be carefully cleaned, by utilizing the best possible combinations of
manual and automatic cleaning techniques.
Further, in order to arrive at the best possible base for the testing, the cell size of the reference
model should be adequately small (≈ as small as possible (with sufficient data in all cells)).
With smaller cell-sizes, undesired influences from a generalization of the observed data into cells
with only one attribute value, are minimized.

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Figure 264 Reference Survey generated and loaded into NaviModel3, left and with test survey (right)

3.3.9.2 Creating a Test Survey

The reference model has to be tested up against a test survey. The Test survey, must be acquired
with a well calibrated, yet typical survey spread. It is recommended that the test survey is not run
parallel to any of the runlines associated with the reference model. In the post-processing phase,
the test data should also be cleaned, in order to remove insignificant influences from outliers and
gross errors.

Figure 265 Survey Example for Test Survey

A good example of such a survey is visualized in Figure 265 above.

Once cleaned, the test survey data must be exported to an ASCII file containing X,Y,Z, beam
angle and beam quality. The format is named ‘Ascii XYZ,Angle,Quality’ and is exported from
NaviEdit as shown below in Figure 266.
Alternatively, it is possible to execute the Total Vertical Uncertainty analysis against a single-
beam observation set. The information required for this must be exported from NaviEdit as an
‘ASCII XYZ’ file.

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Figure 266 Exporting the ASCII XYZ (Angle Quality) file from NaviEdit

Figure 267 below shows an example of an ASCII XYZ (Angle Quality) file.

Figure 267 Example from ASCII XYZ (Angle Quality)

3.3.9.3 Performing the TVU Analysis

Once the reference model is generated and adequately cleaned in NaviModel3 and the test survey
has been created on the basis of the edited and cleaned data, the Total Vertical Uncertainty
analysis can be performed. With the reference model residing in NaviModel3, the functionality
can be invoked by right-clicking on the Model entry of the ‘Project Tree’ window and choosing
the menu-item ‘Vertical Uncertainty Analysis…’ as shown below in Figure 268. Once this is
done, the appropriate test survey file must be chosen. This can either be in the form of an Ascii
(XYZ) file, in case of single-beam data, or it could be in the form of an Ascii XYZ (angle,
quality), in case of multi-beam data.

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Figure 268 Invoking the Total Vertical Uncertainty analysis in NaviModel3

Either way however, the ‘Performance Test window will open as shown below in Figure 269. At
the same time a ‘Vertical Uncertainty Analysis’ entry will appear in the ‘Project Tree’ window.
When this entry is selected, the properties of the TVU will show in the ‘Properties’ window (see
Figure 270).

Figure 269 Performance Test window

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Figure 270 TVU entry in the ‘Project Tree’ window (left) and properties (right)

The result of the TVU analysis is in other words given in an alphanumerical window that
contains various, statistical information all associated with the TVU of the test survey, as well as
in the three diagrams of the Total Vertical Uncertainty analysis window:
 Confidence and mean error versus beam angle
 Histogram, probability versus error
 Histogram, probability vs. beams in reference cell

3.3.9.3.1 Confidence and Mean Error versus Beam Angle

This diagram in Figure 271 below shows the quality of beams as a function of the beam angle.
The X-axis is the beam angle (in degrees), whereas the Y-axis depicts the associated error in
meters. The blue line is the mean error (in meters). The grey area is the depth of 95% of all
beams. The ‘Angle Limit’ option from the properties window, shown to the right in the figure
can be used to limit or to expand the angle span (number of beams per scan) and thereby to
include or exclude the outer beams from the comparison (the Total Vertical Uncertainty
analysis).
In an ideal situation, all 95% values are even and close to 0. This is actually the case in the above
histogram. Furthermore the magnitude is (more than) acceptable, with an average magnitude
between 20 and 25 mm cm and with maximum values around 40 mm.

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Figure 271 Confidence versus Beam Angle (left), Angle limit and histogram bins (right)

3.3.9.3.2 Histogram, probability versus error

Figure 272 Probability versus error, Angle limit and histogram bins (right)

The histogram shows the error distribution of all beams below the selected angle limit. The X-
axis shows the error in meters, whereas the Y-axis and shows probability in percent. The number
of bins can be changed by altering the ‘Histogram Bins’ as shown to the right in the figure.
The example dataset shows an error distribution that is close to the expected 0-value. This is as
expected, bearing in mind the conclusion from the Confidence versus Beam Angle comparison
above.

3.3.9.3.3 Histogram, probability vs. beams in reference cell

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Figure 273 Probability versus Beams in the Reference model

This histogram shows the probability distribution of a given number of beams in the reference
model. The X-axis shows number of beams, whereas the Y-axis gives the probability in percent
of any given number.
Basically this depicts the validity of the analysis. The more beams/observations, the more
statistically significant the TVU analysis is. On the one side we would like models with as small
cell-size as possible, in order for these generalised representations of the raw observations to be
considered as illustrative of the raw data as possible. The danger on the other hand is, that the
models and thereby the analysis becomes statistically weak when decreasing the cell size to a
value that will result in a low observation population in the cells.

3.3.9.3.4 Statistics

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Figure 274 The ‘Properties’ window with the Alphanumerical Statistical Information

The Alphanumerical, Statistical information, shown in Figure 274 above, refer in general terms
to requirements to survey as well as to Total Vertical Uncertainty as these are specified in IHO
and in USACE standard compliance.
The ‘Settings’ entry is used to define various parameters for the TVU analysis, as follows:
 Angle Limit: the option can be used to limit or to expand the angle span (number of
beams per scan) and thereby to include or exclude the outer beams from the analysis
 Histogram Bins: defines the number of bins used in ‘Error Probability’ and the ‘Beam
Count’ histograms
 Limit Depth: defines the depth value used to calculate the TVU on the basis of the
formula given above (the d-value in the formula). The limit depth can be defined on the
basis of the data (minimum, maximum, average of the test survey data) or it can be user
defined. The latter is the case in the example above, where it has been set to 20 m
 Used Limit Depth: shows the depth value use (d-value), either on the basis of the test
survey based entry (greyed out) or on the basis of the user defined input. In the latter
case, the user will have to input the desired value

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 IHO Test: ‘True’ (include IHO Test) or ‘False’ (exclude IHO Test)
 USACE Test: ‘True’ (include USACE Test) or ‘False’ (exclude USACE Test)
 Userdefined Test: only available when IHO Test is ‘True’. ‘True’ (include Userdefined
Test) or ‘False’ (exclude Userdefined Test)
 Userdefined a: only available when Userdefined Test is ‘True’. Defines the a-value for
the test
 Userdefined b: only available when Userdefined Test is ‘True’. Defines the b-value for
the test
The General statistics comprise the following information, in sequence:
 Mean Difference: gives the mean difference between test survey and reference model for
the area investigated
 Standard Deviation: gives the standard deviation of the difference between the test
survey and the reference model
 Minimum Difference: expresses the minimum difference between the test survey and
the reference model
 Maximum Difference: expresses the maximum difference between the test survey and
reference model
 Mean + 1.96 * standard deviation: adds together the mean difference between test
survey and reference model and two times the standard deviation of the difference
between the test survey and reference model
 Data Mean Z: expresses the average depth value of the test survey data
 Reference Mean Z: expresses the average depth value of the reference model
 Reference Min: expresses the minimum depth value within the reference model
 Reference Max: expresses the maximum depth value within the reference model
The IHO-related statistics are associated with the Special Publication No. 44, ‘IHO
STANDARDS FOR HYDROGRAPHIC SURVEYS’, 5th Edition, February 2008. It comprise
the following information, in sequence:
 Special Limit: specified in the publication as TVU (Total Vertical Uncertainty) and
computed at the 95% confidence level as a  (b * d ) . For special order a is 0.25 m, b is
2 2

0.0075 and d is the depth. Consequently the 95% confidence limit for Special Order can
be calculated to 0.292 m (for a depth value of 20 m) in the example above in Figure 274
 Special Test: the maximum allowable value of 0.292 m is compared to the achieved
value of ‘Mean + 1.96 * standard deviation’ of 0.033 m (see above)
 Order 1 Limit: uses the same formula as above, only with a being 0.5 m and b being
0.013. Consequently the 95% confidence limit can be calculated to 0.564 m (20 m
waterdepth) for Order1 in the example above in Figure 274
 Order 1 Test: the maximum allowable value of 0.564 m for the order is compared to the
achieved value of ‘Mean + 1.96 * standard deviation’ of 0.033 m (see above)

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 Order 2 Limit: uses the same formula as in connection with Special Order above, only
with a being 1 m and b being 0.023. Consequently the 95% confidence limit can be
calculated to 1.101 m for Order 2 in the example above
 Order 2 Test: the maximum allowable value of 1.101 m for the order is compared to the
achieved value of ‘Mean + 1.96 * standard deviation’ of 0.033 m (see above)
 User Defined Limit: this item will only appear when the ‘Userdefined Test’ has been set
to ‘True’ under ‘Settings’ above. It uses the same formula as in connection with Special
Order above, only with a and b being identical to the user defined value (0.05 m and
0.002 in the example above). The 95% confidence limit can consequently be calculated to
0.064 with the depth of 20 m in the example above
 Order 2 Test: the maximum allowable value of 0.064 m for the order is compared to the
achieved value of ‘Mean + 1.96 * standard deviation’ of 0.033 m (see above)
The USACE-related statistics item will only appear when the ‘USACE Test’ has been set to
‘True’ under ‘Settings’ above. The test values are associated with the ‘Engineering and Design,
for Hydrographic Surveying, dated April, 1, 2004 from US Army Corps of Engineers. The
standards state, that the resultant elevation depth 95% confidence accuracy (1.96 times the
standard deviation gives the 95% confidence level, which in turn means that 95 percent of the
difference population is less than this value) must meet some predefined requirements. Further
details are found in the dedicated TVU manual.

3.3.9.4 Generating The Report

By right-clicking in the ‘Vertical Uncertainty Analysis’ entry in the ‘Project Tree’ window and
choosing the menu-item ‘Generate PDF’, an overall report of the TVU analysis can be generated.
The settings defined in the properties window are used to generate the report (see Figure 275
below.

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Figure 275 Example of a TVU report (2*45 degrees opening angle (left) and 2*60 degrees opening (right))

3.3.10 The Level Out Functionality

3.3.11 Other Functions

3.3.11.1 Beam Count Statistics

3.3.11.2 Raw Data Graphs from NE connection

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3.4 Feasible Method, Multi-beam Data

The overall example survey area is subdivided into blocks of 5*5 kilometres that are north/south
oriented. Each of these blocks is again subdivided into cells of 1*1 kilometres; hence a block
consists of 25 cells. In theory, though not always in practice, acquisition has been performed by
sailing 5 km long lines in a north/south direction, so a full column of 1*5 kilometres is finalised
at the same time. Consequently, even though it is possible, in NaviModel3, to generate large
models with high quantities of data, it has been deemed more expedient, in the present context, to
generate smaller subsets of the models, in order to better keep up with the online acquisition of
the raw data. The subset will consist of a column of 1 by 5 kilometres. Note that because of the
complexity of the NaviEdit databases, with data being gathered not always in a logical time-wise
sequence, with respect to the various blocks, it has been decided not to use the 'Link to NaviEdit'
functionality. Instead a more conventional approach was chosen, in which NED-files were
exported from NaviEdit and subsequently loaded into NaviModel3.
As a consequence, the sequence in modelling looks as follows:
 Define the NM3 option from the menu-item ‘Tools – Options’ as shown below

 Drag-and-drop the relevant binary XYZ (*.ned) data onto the NM3 DTM-window. For this
the menu-item ‘File – Drop/Merge Multiple Files…’ must be used. The dialogue looks as
shown below in Figure 276, left. Prior to dropping, press the ‘Filter…’ button and define the
filter file list as shown in Figure 276, below right

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Figure 276 Loading of Multiple Files, filtering (left) and dialogue (right)
 Press ‘OK’ and choose model-characteristics as shown below when prompted

 Once the DTM has been generated, it will appear as shown below in Figure 277. Remember
to copy the generated DTM by right-clicking on the DTM in the ‘Project Tree’ and choosing
the menu-item ‘Rename’. NM3 will now store a model that can be used for future
comparison between cleaned and un-cleaned models

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Figure 277 DTM generated

 Now drag-and-drop the relevant *.dis files that shows the outline of the model column onto
the DTM-window. A new entry with the file-name will now appear in the Toppings entry in
the ‘Project Tree’ window and NM3 will look as shown in Figure 278. Note that also the live
contours have been enabled with a step size of 0.5 m. Also observe that the project has been
saved with a descriptive name (SB_Column_A) and that the colours for the model have been
changed to be using the ‘Rainbow’ palette.

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Figure 278 DTM with *dis file as topping

 The next step is to clean the data. For this NM3 has a variety of tools. Before employing any
of these, however, the user should turn on the ‘Cleaned Regions’ color-mode. This mode will
help keep track of which areas of the model that has been cleaned. Select the model entry in
the ‘Project Tree’ window and change the ColorMode Property to ‘Cleaned Regions’ in the
Properties window as shown below. The DTM will now appear as shown in Figure 279.

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Figure 279 DTM visualised in Cleaned Regions color mode

 The primary part of the cleaning will be conducted, utilizing the S-CAN automatic cleaning
functionality, Score variant.
 This part of the cleaning is initiated from 'Cleaning Toolbox - S-CAN Score' button and
subsequently selecting the entire area as seen below left. Once the initial part of the S-CAN
cleaning, in which the score values of each individual point inside the selected area,
commences, the window below right will appear. Here it is possible to follow the progress of
the Score cleaning

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 When the initial part of the cleaning is completed, the user must press the 'OK' button that
will then appear, in order to allow NaviModel3 to save the Score Patch. When this is
completed, a new entry will appear in the 'Project Tree' window, under the Survey - Filtered
as shown below

 This entry, shown with a red circle, constitutes the link to the next cleaning step xxx. Right-
click on the filtered entry and choose between the two menu-items 'Clean Area (Polygon)'
and 'Clean Entire Area Enter' as shown below. Whereas the Clean Area (Polygon) option
will give the user the opportunity to choose to clean only parts of the area (selection with the
mouse/cursor), the 'Clean entire area' will initiate the second part of the cleaning
immediately. In the particular context it should be possible to clean the entire area at once -
hence option 'Clean Entire Area' should be selected
 This will open the threshold selection window shown below, that in combination with a
visualization of the raw data in the DTM window. The consequences of a threshold selection
is at the same time visualized instantly in the DTM window as shown in the figure to the
right. Note that red points are marked for deletion with the current threshold settings.
xxx window with selection of threshold and DTM xxx

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 The remaining part of the cleaning is to be regarded QC on the cleaning and is therefore
conducted as manual ‘Point Edit 3D’ cleaning. Prior to that however, a rough ‘Plane
cleaning’ could be performed in order to remove gross errors, if any, from the data material.
Choose menu-item ‘Tools – Point Cleaning – Plane cleaning (pick polygon)’ as shown above
for this
 Click an appropriate area with the cursor (approximately 200 m long and in the full 1km
width of the column) as shown below (white lined quadrangle). In the present context, this
will equal approximately 25 million points

 The ‘Plane distance’ window will now pop up and the DTM window will change its
appearance. Based on the ‘Plane distance’ histogram/selection window (below left) as well
as the selection display in the DTM (red dots, below right), the user should move the red
max/min lines left and right until the correct cleaning selection has been accomplished. Even
though the suggested values are often reasonable, the user must make sure not to clean too
close to the data (seabed and various features), since this part of the process should only be
regarded intermediate coarse cleaning

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Figure 280 Plane cleaning finalized

 Once a coarse cleaning has been performed, by utilizing the Plane cleaning methods the
cleaned regions are shown to the left in the ‘Project Tree’ and graphically, to the right in the
DTM window (see Figure 280 above), where full coverage has been established in the
cleaned regions view
 The next step is to employ the Point Edit 3D method in order to perform the more detailed
cleaning. To assist with this, a series of display-lines have been generated, that fit in size to
the required size of the area to be cleaned in a Point edit session and together covers the
column in question. In the present context, the area is 400 by 400 meters; however this size
must be evaluated from session to session. Note that the files are ASCII-files in the *.dis
format, that have been generated in a dedicated Excel spreadsheet
 Prior to starting the Point Edit 3D cleaning, the DTM-window with the cleaned regions view
must be reset. Once this has been accomplished, and the display-lines have been loaded, the
DTM window looks as visualised below in Figure 281. In order to invoke the Point Edit 3D
tool, right-click in the display-line in question and choose the menu-item ‘Point Cleaning –
Point Edit 3D’ as shown below in Figure 282

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Figure 281 Cleaned Regions visualisation reset prior to Point Edit cleaning

Figure 282 Selection of Point Edit tool from Displayline

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 The Point Edit 3D tool will open automatically with the tools available that were described in
the previous. Figure 283 below shows the user interface of the Point Edit 3D tool. Observe
the total number of points as well as the number of deleted points shown in the caption of the
window (4.4 million and 10000 respectively). Also observe that the vertical exaggeration has
been set to a relatively large value in order to enhance the ease of identification of the points
to be cleaned

Figure 283 Point Edit 3D tool

 During cleaning, it is recommended to zoom in on the area in question, in the DTM window
of NM3, in order to focus on the details of the DTM. This must be regarded an indispensable
support tool of the Point Edit 3D cleaning. This is visualised in Figure 284 above, where the
Colormode has temporarily been changed to ‘Depth’
 After cleaning, select the ‘File - Exit’ menu item of the Point Edit 3D tool and choose to
‘Save changes’ when prompted. This will force the data to be sent back to NaviModel3. As a
consequence an update of the DTM will take place
 Back in NM3 observe that the area defined by the displayline that was used to define the area
to perform cleaning on is now marked as cleaned (see Figure 285 below)
 The actions described in the above must now be repeated for all areas. Once this has been
accomplished and the cleaning process is thus completed, change the ColorMode back to
‘Depth’ and make sure that the Model Type/Geometry Mode is ‘Average’. The DTM now
looks as shown below in Figure 286

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Figure 284 DTM zoomed in to support Point Edit 3D cleaning

Figure 285 Cleaned area marked

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Figure 286 DTM cleaned

 The various results that are to be used for further processing in NaviPlot must now be
exported from NaviModel3. This is done by right-clicking on the relevant displayline file in
the ‘Project Tree’ and choosing the menu-item ‘Export…’ as visualised below Figure 287,
left. This action will open the Export dialogue, shown below in Figure 287, right. Prior to
that, however, the user is prompted for a cell-size for the export (see below). The default
value, identical to the cell-size of the model of 1 m, should be chosen

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Figure 287 Export menu-item (left) and Export Dialogue (right)

 The export dialogue has a series of tabs that are active if they have been selected in the initial
‘General’ tab. In Figure 287, right only the ‘Georeferenced Image’ and the ‘Contours’
exports have been selected. Consequently only the two associated tabs have been marked
active with a green bubble

Figure 288 Export Dialogue, Image tab (left) and Contours tab (right)

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 The export files will be located in the position specified in the ‘Misc. Settings’ tab of the
Project settings dialogue under the ‘Export path’ option. The dialogue is invoked with the
menu-item ‘Tools – Project Settings’
 Observe that the export described in the previous is associated with the ‘Average’ Model
type/Geometry mode. For a number of reasons, it has been decided, in the present context, to
generate contours on the basis of a model where the ‘physical’ holes in the observation
material have been filled. To do that, the user will have to generate an Interpolated average
model. This is accomplished by right-clicking on the DTM-entry in the ‘Project Tree’ and
choosing the menu-item ‘Generate Interpolated Average map’ as shown below in Figure 289
(left). Choose an appropriate value for the extrapolation that will fill all the undesired holes.
Once this is done and the geometry mode is changed to ‘Interpolated Average’, the DTM
looks as shown below in Figure 290

Figure 289 Generate Interpolated Average map (left) and extrapolation value (right)

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Figure 290 Interpolated Average Model

 Exporting of the contours must now be repeated with the same settings as in the previous, but
now without enabling the ‘Image’ option. The result of this is the contours that are to be used
in the subsequent documentation, in NaviPlot together with the georeferenced image of the
DTM

3.4.1 Output from NaviModel3

In the present context, the smoothed contour-curves and the georeferenced image of the DTM
constitute the end results of the post-processing within NaviModel3.
Prior to exiting NM3, however, try to compare the data before and after cleaning. This can be
done utilizing the DTM that was originally generated. Remember, for both models, to disable the
‘Fade’ property for the color mode. Also remember to change the linear filtering of the ‘View
Settings’ of the DTM to ‘False’ as well as to define the light-setting identically for the two
models (see Figure 293).

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The comparison should, in the present context, focus on overall degree of cleanness, whether
important objects (like pipelines, depressions from spud-cans etc.) are still visible and whether
obvious noise in the data has been adequately erased.

Figure 291 Before Cleaning

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Figure 292 After Cleaning

Figure 293 Light Settings

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3.5 Feasible Method, Single-beam Data

Bearing in mind that the single-beam data serve as a Quality Control tool against the multi-beam
data (see chapter 2.4), the feasible method for single-beam data in NaviModel3 differs
substantially from the multi-beam modelling. It has been decided to perform a comparison
between models generated on the basis of the two observations-types. Initially the comparison
must be based on a TIN model as well as on a TRN model, both generated on the basis of the
single-beam data. Later on in the process, it should be decided which method should be
preferred, based on considerations regarding accuracy, reliability and time-consumption.
Furthermore the comparison must also include a difference model and a volume-calculation of
that model relative to a vertical reference level of 0.

3.5.1 TIN Model comparison

The sequence for the TIN model comparison is as follows:
 Create a new NaviModel3 project for the single-beam data. Observe that the models must be
named nn_Sc, with nn being the block number, S indicating single-beam acquisition type and
c being the column number (from A to E). Note that only one model is made for each
column. In the present context, the model must be named SB_SA
 Input the exported ASCII XYZ (.xyz) originating from NaviEdit, using the ‘Drop/Merge
Multiple File’ option as described in chapter 3.4 above. In Figure 294 below left, see the data
prior to filtering-value of .xyz has been applied. Figure 294, right shows the filtering result:
53 items accepted whereas 55 will be removed from the list (.xyz used as filtering)

Figure 294 List prior to filtering (left) and Filter list removal (right)

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Figure 295 List after filtering with only xyz-files (left) and Merging prompt (right)
 When the list has been filtered, press ‘OK’ and answer ‘No’ when prompted whether or not
to merge the data into and existing model. Finally choose ‘Yes’ when prompted to generate a
tin model as shown below. NM3 will now commence generating a TIN model

 Once this has been accomplished, the model will appear in the ‘Surveys’ list of the ‘Project
Tree’ together with the multibeam based DTM-model as it appears in Figure 296 below
 At this stage, the volume-calculation must take place. Right-click on the DTM in the ‘Project
Tree’ and choose menu-item ‘Generate Volume Report’ as visualised below

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Figure 296 TIN model loaded together with DTM

 An initial dialogue for the Volume Reporting that facilitates selection of models to perform
the calculation with as well as boundary to perform a trimming of the areas with appears as
shown below. Select the DTM as model 1, the TIN model as model 2 and the displayline that
defines column A as boundary

 The next step is to define the properties of the three tabs on which contents of the volume
report can be defined

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Figure 297 Volume Calculation Report, General Tab

Figure 298 Volume Calculation Report, Standard Report Tab (left) and Enhanced Report Tab (right)
 NM3 will start to calculate and subsequently to report the volumes. The report can be found
in the folder selected and with the particular name defined. The volume calculation must be
performed in 6 stages – one for the entire column and one for each chart of the column. It is
therefore necessary to load all relevant displaylines and to perform a volume-calculation for
each displayline
 The volume report consists, in the present context, of three pages:

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Figure 299 Volume Report, Page 1 of 3 (left), Page 2 of 3 (right)

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Figure 300 Volume Report, Page 2 of 3, Enhanced Information Page

3.5.2 TRN Model comparison

For the single-beam TRN model, the comparison will stick to the following steps:
 Alternatively the volumes could be determined on the basis of a DTM generated on the basis
of the single-beam data. For this load the single-beam data as described above via the ‘File –
Drop/Merge Multiple File’ option. Choose an appropriate name, a cell size of 1 (identical to
the cell-size of the multi-beam DTM), a vertical scale of 1 select ‘No’ when prompted to
create a TIN model

 Once the model is generated, it will look as shown below in Figure 301 with gaps in the
observations.

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Figure 301 Single-beam model generated

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 To avoid this, two actions must be performed. In the ‘View Settings’ window under the
DTM (Surface) entry, change the ‘FillSecondary’ item to ‘True’. This action will fill
secondary neighbouring cells (neighbouring cells to cells with observations), however there
are still undesirable gaps, indicating lack of coverage in the observations material. To
accomplish full coverage in the DTM, right-click in the model-entry in the Project Tree
window and choose option ‘Generate Interpolated Average map’ as visualised above. Now
choose an appropriate value for the extrapolation. In the present context, a value of 50 m has
been chosen. The value must be defined with due consideration to the line-spacing/distance
between observations. Since NM3 is extrapolating (and not interpolating), it will generate a
step-like model if the value is too close to ½ * line-spacing. The overlaps that will be
generated when using a value that is 1 * line-spacing is close to 100% and will provide a
much smoother and more seamless transition between observations in the model, since it will
average the extrapolated values in case of overlap. Note that the idea of ‘Generating
Interpolated Average Map’ is corresponding to the ‘Collar Width’ concept used in previous
versions of NaviModel
 Once the Interpolated Average Model has been generated, it will be available among the
model types for the single-beam DTM, Block_SB_A_SB. Now change the ‘Geometry
Mode’ of the DTM to ‘Interpolated Average’ as shown below in Figure 302 and observe that
the model now has full coverage as desired, with a cell size of 1m

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Figure 302 Interpolated Average model

 Load the multi-beam DTM by dragging-and-dropping. To be absolutely sure that full
coverage has been accomplished, repeat the action regarding ‘Interpolated Average’
described above, this time with a value of 10 m. Now right-click on the multi-beam DTM
and choose menu-item ‘Generate Volume Report’. Choose the settings for the reporting that
are visualised below:

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Figure 303 Volume Calculation Report, Model and Boundary definition Tab (left) and General Tab (right)

Figure 304 Volume Calculation Report, Standard Report Tab (left) and Enhanced Report Tab (right)
 NM3 will start to calculate and subsequently to report the volumes. The report can be found
in the folder selected and with the particular name defined. The volume calculation must be
performed in 6 stages – one for the entire column and one for each chart of the column. It is
therefore necessary to load all relevant displaylines

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3.5.3 Difference Models

A difference model between the TRN-models based on multi-beam and single-beam data
respectively, must finally be created along the following steps:
 Right-click on the ‘Surveys’ entry in the ‘Project Tree’ and select menu-item ‘Create
Difference model’ as shown below

 Enter the ‘Interpolated Average’ models for the multi-beam and the single-beam TRN
models as well as a cell-size of 1 m in the dialogue that now appears (see Figure 305, below
left)

Figure 305 Menu-item ‘Create Difference Model and the ‘Save As’ dialogue (right)
 Enter an appropriate, descriptive name for the new difference model (see Figure 305, above
right). NM3 will immediately start generating the new model. Once this has been
accomplished, the model will be loaded and thereby it will appear in the ‘Surveys’ entry of
the ‘Project Tree’
 Perform volume calculations for the difference model the same way, it was described in the
previous. However, this time the volumes must be calculated relative to a 0-level, as shown
below

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3.5.4 Handling the Results of the comparisons

Once all calculations have been performed, the reports must be printed and the results must be
entered into a spreadsheet that might look as depicted below (Figure 306). Note that the result of
all volume calculations associated with the single-beam TIN-models as well as with the single-
beam TRN-models, as described in the previous, have been included in the table. Also the
difference model calculations have been entered.
Comparison: MultiBeam versus SingleBeam, SB, Column A
Volume Calculations (average depths):
C-O/Difference
Singlebeam C1 16.53
TIN C1 16.54 0.15
Multibeam C1 16.69 0.16
Difference Model 0.16

Singlebeam C6 17.22
TIN C6 17.23 0.13
Multibeam C6 17.37 0.14
Difference Model 0.14

Singlebeam C11 17.62

TIN C11 17.63 0.12
Multibeam C11 17.75 0.13
Difference Model 0.13

Singlebeam C16 18.14

TIN C16 18.15 0.12
Multibeam C16 18.27 0.13
Difference Model

Singlebeam C21 18.67

TIN C16 18.67 0.10
Multibeam C21 18.76 0.10
Difference Model 0.10

Overall:
Singlebeam 17.63
TIN 17.64 0.13
Multibeam 17.77 0.13
Difference Model 0.13

Figure 306 Comparing SB- and MB-results

Note that the particular figures (C-O values) in the spreadsheet must be consistent and that the
single-beam depths (for TRN as well as for TIN models) furthermore must be constantly higher
(magnitude approximately 10 cm) than those of the multi-beam. This is exactly what is seen in
the figure and confirms thus a positive relationship between the SB- and the MB-results.

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Figure 307 Volume Calculations in the Log window

A much faster alternative for the volume calculations would be to perform the calculation
directly on the displaylines, one by one, in the ‘Toppings’ entry of the ‘Project Tree’ and
choosing the menu-item ‘Calculate Volumes’. This action will yield the results of volumes for
each of the models loaded relative to a 0-level in the ‘Log’ window as can be seen above in
Figure 307, however the reporting documentation will be missing.

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3.6 The NaviModel3 Flow

For Bathymetric Data Processing, the NaviModel3 flow can thus be depicted as shown in Figure
308 below:

Figure 308 The NaviModel3 Flow

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4. POST-PROCESSING WITHIN NAVIPLOT

4.1 General Introduction to NaviPlot
The NaviPlot program is a fair sheet production software that provides facilities for lay-out of
survey data. The fair sheet comprises various elements and data types, and allows mixing of a
range of mapping data in different frames for overlay with scale-bar, colour palette, text, XY-
grid and north arrow (see Figure 309).

Figure 309 NaviPlot

The lay-out is controlled by the use of frames with the primary frame being the main frame
around the whole of the sheet. New frames can be created either by mouse click-and-drag or by
typing in the frame values. Existing frames can be deleted or changed/edited. The frames are
organized in a tree-structure, so that every frame except the main frame has a parent frame. For

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every frame it is possible to inherit properties from the parent frame as well as to create own
properties. Created frame lay-outs can be stored as default templates.
The properties of a frame comprise among others: scale, origin, geodetic parameters, size and
position of frame, pens used for drawing, name width, height etc. The frame behind a new frame
will automatically be selected as the parent frame.
Map view is a frame containing plots. This view allows for display of various data types, such as:
vector lines (display-lines, runlines, AutoCAD-files (*.dxf/*.dwg), contour lines (with filling),
bathymetric plot, trackplot, geographical bitmaps, profiles (longitudinal as well as cross),
coverages and side-scan mosaics. All map views are added as layers, providing options like:
stacking of layers, change of priority, delete layer and disable/enable display of layer.
Coordinates (lines/ticks and labels) can be displayed in XY and/or in Lat/Long. Each label can
be hidden if they overlap other labels. Labels are aligned to the frame edges.
The program supports import of the most commonly used file types, from the EIVA suite as well
as from other sources, such as: contours (*.nmc, *.coa, *.cob), display/run lines (*.cur, *.dis,
*.rln, *.rlx, *.rle, *.dxf, *.dwg) and geographic bitmaps (geotiff). Export file types supported
comprise a/o AutoCAD vector drawing (*.dxf and *.dwg).
Plotting and printing is controlled through standard MS-Windows functions.

4.2 Common Tools

NaviPlot is organised in different panels, toolbars, menus and views that together make the user
interface. The various items can be listed as follows (see Figure 310 below for a visualisation):
 Main Menu
 ‘Toolbars’:
o ‘File Operations’ toolbar
o ‘Plot Operations’ toolbar
 ‘Paper view’ (A visualization of the plot)
 ‘Explorer Panel’
 ‘Property Panel’
 Status bar

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Figure 310 The NaviPlot User Interface

The NaviPlot tools are in other words available from the menu, from icons on the icon-bar, from
short-cut keys, from the ‘Explorer Panel’ as wells as from the ‘Properties Panel’.

4.2.1 The Main Menu

The main menu has four main entries: ‘File’, ‘Edit’, ‘View’ and ‘Help’. Since the majority of the
input to NaviPlot is controlled from the Explorer and from the Properties Panel, the menu has a
relatively limited amount of entries. A few major ones should be mentioned:

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Figure 311 Main Menu – from left to right: File- Edit- and View-menu

From the file menu, it is possible to save the project, to export the project to an AutoCAD file (or
a series of AutoCAD-files in case of Chart Lay-out Manager (see details in chapter 4.2.7)) and it
is possible to export to a Zip-archive. The latter is particular useful if the user wishes to move his
project from one computer to another. Extracting the zip-archive will in this case include the
absolute (new) addresses of all associated file – these files are in fact included in the zip-file.
The edit menu contains the possibility to define the input as well as the presentation units. In this
way it is made possible to fully control the units on the plot. So even if longitudinal profiles or
contours have been generated in meters, it is still possible to convert to e.g. US Survey Feet in
the plotting phase (see Figure 312 below). For the contours and profiles it is a requirement
though, that they have been generated with an interval that is a multiplum of the desired
presentation unit.

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Figure 312 Input Units (left) and Presentation Units (right)

4.2.2 NaviPlot Toolbars

The two different toolbars in NaviModel: the ‘File Operations’ toolbar and the ‘Plot Operations’
toolbar host the following tools (see Figure 313 and Figure 314). A more detailed description of
the various tools will be integrated in the following.

Figure 313 NaviPlot - ‘File Operations’ Toolbar

Note that with respect to the ‘Plot Operations’ toolbar below, the three right-most tools are
associated with the ‘Chart Lay-out Manager’ (see details in chapter 4.2.7).

Figure 314 NaviPlot - 'Plot Operations' Toolbar

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4.2.3 The Paper View

NaviPlot contains all data (trackplot, bathy plot, contourplot, profiles, text, etc.) in frames (see
chapter 04.3.2 for further details). Once a frame has been generated and data has been applied to
it, the frame can become one of the following (see visualisation in Figure 315 below):
 XY frame
 Profiles frames:
o Longitudinal Profile
o Cross Profile
o Events Profile
 Scale-bar frame
 North Arrow frame
 Text Frame

Figure 315 Frame-types in NaviPlot

In Figure 315 the various frame-types have been visualized. Note that each frame in the ‘Paper
View’ has an entry in the ‘Explorer Panel’ and that each item in the ‘Explorer Panel’ has an entry

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in the ‘Properties Panel’. Hence clicking on a frame in ‘Paper View’ will put the focus both in
the ‘Explorer Panel’ and in the ‘Properties Panel’ to that frame. Clicking on a frame in the
‘Explorer Panel’ will likewise bring focus to that frame in ‘Paper View’ as well as in the
‘Properties Panel’. In the properties panel it is not possible to switch between frames.
Before assigning data to a frame, right-clicking on it will invoke the ‘Default Frame’ menu (see
Figure 316, left).

Figure 316 NaviPlot Paper View - Default Menu (left) and XY-Frame Menu (right)

Once a frame has been generated and has been assigned data, right-clicking on it will invoke a
menu that will be dedicated to the specific type the frame has become. This is visualised in
Figure 315, right (XY-frame menu), in Figure 317 left (Longitudinal Profiles frame menu) and in
Figure 317 right (Cross Profiles frame menu).

Figure 317 NaviPlot Paper View - Longitudinal Profiles Frame Menu (left) and Cross Profiles Frame Menu (right)

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4.2.4 Explorer Panel

Figure 318 The Explorer Panel – Explained

Figure 318 explains the Explorer Panel. Note that the particular panel depicted here is identical
to the one used in connection with the NaviPlot Project shown in Figure 315. Also observe that

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some of the items have not been ‘exploded’, such as the Legend Frame that primarily consists of
Text Frames, as well as the input to the Cross Profiles Frame and to the Event Profile Frame,
respectively.

4.2.5 Property Panel

The contents of the Property Panel will change depending on the item highlighted in the Explorer
Panel. Figure 319 and Figure 320 visualizes an explanation to the contents of the four tabs
associated with a Cross Profile.

Figure 319 Properties Panel #1 - Cross profiles - Cross Profile Tab (left), X-Axis Tab (right)

Even though the two figures are associated with a cross-profile, many of the items dealt with
here are common for the various ‘Property Panel’ types. As is the case with the cross profiles
property panel, the items have generally been rigorously sorted and, if necessary ordered in
different tabs, in order to ease the detection and recognition of the various items included.
One of the guiding principles for the design of NaviPlot has been to enhance user friendliness by
making the menus, panels, the Explorer as well as the Properties, easy to learn, easy to
remember, efficient to use, understandable and satisfactory to use.

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Figure 320 Properties Panel #2 - Cross profiles – Y-axis Tab (left), Frame Tab (right)

4.2.6 Status Bar

The Status Bar is for information only. It contains information for XY-frames, for Longitudinal
Profile frames as well as when creating frames and generally in the empty paper view. Besides,
the Status Bar is the only place, where it is possible to see the number of the present chart, when
scrolling through the charts in case of an active Chart Lay-out Manager (see further details in
chapter 4.2.7).
When creating frames, the length and width of the frame while dragging the cursor across the
Paper View will be shown in the Status Bar. In the case of Longitudinal Profiles, it shows the
depth at the cursor position, whereas for the XY-frame, it shows the local coordinates (plotter-
coordinates) of the cursor as well as the grid-coordinates of the cursor (see Figure 321 below).

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Figure 321 Status Bar (see red arrow)

4.2.7 The NaviPlot Chart Manager

The NaviPlot Chart Manager is based on chart definition files (*.cdf). These ASCII-files are
normally generated in Imaging. Alternatively the *cdf-file can be created manually.

4.2.7.1 Generating *.cdf-files in Imaging

Read relevant data into Imaging. Drag and drop a runline file that is to be used for the plotting
onto the Map View. In the Explorer Panel, explode the item ‘Toppings’ as well as the runline.

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Figure 322 Imaging with data & runline

Now right-click on the field underneath the runline (red arrow in Figure 322) and choose chart
generation tool. The window shown below in Figure 323 (left) will appear.

Figure 323 Chart Definition Tool (default left – user defined right)

Insert the figures that correspond with the size of the frame and the scale in the relevant NaviPlot
Project. Choose desired KP-range and overlap percentage. In the present context, with a scale of

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1:1500 and a frame-width and -length of 570 and 125 mm, respectively, this is equivalent to the
numbers inserted to the right in Figure 323.
After having pressed the ‘Generate charts’ button, remember to save the results (the *cdf-file).
Imaging now shows the outline of the generated charts and there is an additional line in toppings
with the same name as the runline, but with an additional extension cdf (see Figure 324).
Observe that, by highlighting the various charts, it is possible to edit them (in the properties
panel at the bottom) and even to delete them. In the present context, no editing is required, since
the cdf-file fulfils requirements.

Figure 324 Chart Definitions generated

4.2.7.2 Loading the *.cdf-file

To load the chart definition file into NaviPlot, simply right-click in an XY Frame and choose
menu-item ’Add XY Data - Chart definition (*.cdf)’. Once this is done, the chart definition will
appear as an input in the Explorer Panel of the relevant XY-frame. Explode the Chart Definition
and see that there is an input for each of the charts generated in Imaging. Right-click on one of

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the charts and choose menu-item ‘Go To View’. This chart is now marked as the current chart.
One of the consequences of this is that additional functionality is now available, in the Plot
Operations Toolbar menu and with respect to the Chart Manager (see 4.2.7.5 for details).
In the Plot Operations Toolbar, the Chart Navigation menu is now active as shown below in
Figure 325 (also see Figure 314).

Figure 325 The Chart Navigation part of the Plot Operations Toolbar

These menu-items have been designed to facilitate a faster and more efficient navigation within
the charts.
Once the *.cdf-file has been read into the XY-frame, NaviPlot looks as shown below in Figure
326. Note that it is possible to see the outline of the adjacent plot in the XY-frame (no. 2 –
marked with an orange pen). At this moment in time, however, the definition of the associated
properties still need to be made.

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Figure 326 CDF-file in NaviPlot

4.2.7.3 Chart Viewing Modes

NaviPlot supports two ways of using and showing charts, based on the cdf-file: ‘Key Plan Mode’
and ‘Plan View Mode’. Whereas the charts in ‘Key Plan Mode’ will typically all be shown in
one frame, charts in ‘Plan View Mode’ must be shown one chart at a time.
Figure 327 and Figure 328 shows the same cdf-file in the two modes. In Figure 327 is shown the
Keyplan Mode. Note that the properties for the Chart definition mode are set in the Properties of
the XY-Frame.

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Figure 327: Key Plan Mode

Figure 328: Plan View Mode

Figure 328 shows the Plan View Mode. Note that when selecting current chart, the scale of the
XY-frame will change to accommodate for the size of the chart selected as current chart, when in

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Plan View Mode. In Keyplan Mode the scale will, by default, be set so that the frame can contain
all charts included in the cdf-file.
It is furthermore possible to load the same cdf-file twice (or even more times) into NaviPlot, in
different frames – e.g. once in the main plotting window (in ‘Planview’ mode) and once in the
keyplan frame (in ‘Keyplan’ mode). The application will recognize them by the file name as
being identical and will synchronize them. Therefore, if the current chart is selected in one of the
cdf-files, the other(s) will also show the same chart as being the current one.

4.2.7.4 Properties

Figure 329 Chart Definition File Properties (left) and Chart properties (right)

The properties for the Chart Definitions are divided in two: one for the overall Chart Definition
and one for each chart. They are visualized above in Figure 329. For the Chart Definition File
properties, the main items are:
 ‘Chart Properties’ is a group of general properties for all the charts in this chart definition
file
 ‘Chart Pen’ is created whenever a cdf-file is loaded and added to the list of pens in
NaviPlot

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 ‘Current Chart Properties’ is a group of properties that only apply when the current chart is
selected
For the Chart properties the following apply:
 ‘E’: Easting, read from the cdf-file, editable
 ‘N’: Northing, same as above
 ‘Width’, same as above
 ‘Height’, same as above

4.2.7.5 The Chart Manager

The Chart Manager is used to record/store/set the changes made to individual charts. The Chart
Manager is activated when the user selects one of the charts as current chart.
When the Chart Manager is activated, it records the changes made to the current chart. The Chart
Manager creates one record per change applied. All the changes can be found in the NaviPlot
Explorer Panel as visualized in Figure 330 below.

Figure 330: Chart manager record properties

Note that a Chart Manager record has five properties. The property fields of the record are not
editable – they are for the user info only.

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The Chart Manager records in other words all the changes made to the current chart. As soon as
there is no current chart selected, all changes applied in the particular XY-frame, where a cdf-file
resides, will be applied to all charts in the cdf-file range.
All the records can be deleted by selecting the record and pressing the ‘Delete’ key on the
keyboard.

4.3 Creating a NaviPlot Project

4.3.1 Starting NaviPlot

The first time, NaviPlot is started, it is necessary to define the paper size for the final chart, as
well as the chart lay-out (orientation and plot dimensions). From the NaviPlot main window
choose menu-item ’File – New’. The menu shown in Figure 331 will appear. Note that it is not a
requirement that the plot matches the paper. This is however the case in the majority of situations
– so choose paper size, orientation and press the ‘Fit Plot Dimensions’ button.

Figure 331 Choose Paper and Plot Dimensions

By pressing the ‘OK’ button, an empty paper view will appear as shown below in Figure 332.
Note that when creating a new project, it is possible to do it from an already existing one or to
start from scratch. We will try to show the latter here.

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Having said this, however, the first option is often to prefer. Based on the frames and the legend
of an already existing project, it is often easier just to modify the contents of the frames.
Generating the Legend from scratch, in particular, can be a tedious and time consuming process.

Figure 332 Empty NaviPlot Project

4.3.2 Adding Frames to the project

The NaviPlot program will contain all data (track plot, bathy plot, contour plot, various profiles,
text, etc.) in frames, so the first step is to create a number of frames. For a bathymetric plot, it is
often a requirement, that the plot should include the following:
 Bathymetric plot with contours, depth-coded bitmap, runline with KP-tics and XY-grid
 Longitudinal Profiles (KP-aligned to the Bathymetric Plot)
 Cross Profiles (KP-aligned to BP)
 Event Profile (KP-aligned to BP)
 Legend:
o Sensor Details
o Geodesy Information
o Scale-bar
o Project Title
o Information about acquisition and post-processing software

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o Keyplan
o Revision History
o Information about the Data-acquisition
o Information about the Post-processing
The project must reflect this. So click the ‘Create frame’ icon from the Plot Operations toolbar.
Now move the mouse to the upper left corner, where the frame should start. Left click and hold
down left mouse button and drag the mouse cursor to the right bottom corner. By dragging, the
frame will appear to be growing, with the length and width being displayed in the Status Bar.
Keep repeating creating frames, until the desired number is reached. Note how a tree-structure is
building up in the Explorer Panel. When clicking on a window, it will be surrounded by red
squares, and the Properties for the frame will be visible in the Property Panel. Typing new values
in the Property Panel will modify the properties for the selected frame.

Figure 333 Frames have been created

In Figure 333, the frames have been created in accordance with requirements. Note that in the
Explorer Panel, the frames have been given names to ease the identification. Also note that the
sequence has been structured, so that it reflects the sequence on the plot. To the top is the legend,
then the four plots and at the bottom are the four texts that are the headlines for the plots on top
of the plots themselves.

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Finally observe that the legend frame has been equipped with all frames required and that these
frames have been named and put in sequence in accordance with requirements.

4.3.3 Adding data to a frame

Data can be added to a frame by right-clicking on the frame and selecting the data type that
should be added. Different types of data can be added to the same frame. An XY-frame can
contain:
 Contours From NaviModel3)
 Runlines (from NaviPac/Helmsman’s Display)
 Displaylines (from NaviPac/Fileasc)
 Bathy plots (*.bpl from NaviModel)
 Coverages (*.ned data from NaviEdit or Project Planner)
 Longitudinal Profiles (track in XY-plane – from NaviEdit or NaviModel)
 Cross Profiles (track in XY-plane – from NaviEdit or NaviModel))
 AutoCAD data (*.dwg or *.dxf)
 Waypoints (from NaviPac/Helmsman’s Display – events or annotation)
 Bitmaps (georeferenced – from Imaging or other)
 Trackplots
 Chart Definition File (from Imaging)

4.3.3.1 Adding contour curves

To add contour curves to the Bathy Plot frame, right-click on the frame and select: ‘Add XY
Data -> Contours (*.coa, *.nmc)’.

Figure 334 Contours read into Bathy Plot Frame

By default, the data will be north-oriented and the scale will be made to fit the frame (see Figure
334 above). In the ‘XY/Geodesy’ Properties the data can be rotated and scaled to best fit in the
frame. The frame now looks as shown in Figure 335.

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Figure 335 Contours rotated 86 degrees and scaled to 1:1500

4.3.3.2 Adding Bitmap

The georeferenced bitmap has been generated in Imaging (sometimes it could be originating
from an alternative source). In the present context, the bitmap was colour-coded in accordance
with a contour interval of 1 m. Again, right-click on the frame and select ‘Add XY Data –
Bitmap (*.tif, *.bmp, *.jpg)’. Choose the file created in NaviModel3. The frame will now appear
as shown below:

Figure 336 Bitmap on top of contours

Note that, on the plot, the contours are now hidden underneath the bitmap. NaviPlot will draw
the various items in the sequence they are shown in the Explorer Panel. The bitmap must
therefore be shown as the top item in the Bathy Frame of the Explorer Panel. Right-click on the
bitmap and select ‘Move up’ until it is the topmost item of the frame. The plot now looks as
shown in Figure 337 below:

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Figure 337 Bitmap moved to the background

4.3.3.3 Adding a runline

To add a runline to the Bathy Plot, right-click in the frame (or on the frame in the Explorer
Panel) and choose: ‘Add XY Data – Runline (*.rl*, *.poi)’. By altering the properties for the
runline it is possible to give it the desired look (see Figure 338). In the present context, ‘Label
Draw Method - Diamond’ has been chosen to visualize the KP-values at 100m interval (see
properties (‘Major tick step’) in Figure 339). Also note that the runline colour has been changed
to green (colour of ‘Runline Pen’. Finally notice that at this stage, the ‘View – Grid’ menu-item
has been switched off.

Figure 338 Runline with Diamonds at 100 m interval

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Figure 339 Runline Properties

4.3.3.4 Adding grid

To add grid lines to the frame, right-click in the frame and select: Add XY Grid. By altering the
properties for the grid, the desired appearance can be created. Notice that good practice is to have
gridlines every 10 cm on a plot. With a scale of 1:1500, this equals 150m spacing. Notice that, by
default, the Geographical grid is switched off. In the present context, it has been switched on.
Also notice that, in order to get the correct geographical coordinates for the plot, it is necessary
to acquire information about the map-projection – not the datum transformation, since the grid
coordinates as well as the geographical coordinates are given in the same datum.

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Figure 340 With XY-grid

Figure 341 Properties for XY-Grid, Geo Grid and Clipping

4.3.3.5 Adding North arrow

The final thing to add to the Bathy Plot is the North Arrow. Right-click and select ‘Add North
arrow’. The North Arrow can be moved around inside the Bathy Plot. Furthermore, since it was
created in this frame, it has inherited the XY-properties of the frame (see red arrow in Figure 342
– XYProp[6](4) links to the Bathy Plot). Had it been created in another frame, without any XY
properties defined, it would still be possible to link it to any frame with a defined XY property.

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Figure 342 North arrow properties

Figure 343 Bathymetric Plot Frame finalized

4.3.4 Creating the Longitudinal Profiles Frame

In order to add a longitudinal profile to the ‘Long Plot’ frame, right-click on the frame and select
‘Zoom to’. Right-click again, and choose ‘Add profiles-> Long profile (*.lpa)’. Select the
appropriate files. In the present context, the longitudinal profiles have been generated in
NaviEdit and originate from a pipeline inspection survey. They have consequently been created

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so they contain BOP (Bottom Of Pipe) information as well as TOP (Top Of Pipe) and MSB
(Mean Sea Bed) information. The initial/default result will look as shown in Figure 344 below.

Figure 344 Longitudinal Profiles Plot - default look

It appears from Figure 344, that the entire vertical range of all profiles is not visualised and that
the KP-values are not similar to those shown in the Bathy Plot. By changing the properties for
the Frame window however, it is possible to align the longitudinal profile to the runline in the
Bathy Plot frame (see red arrow on Figure 345 below), to make all profiles visible, to change
colours on the various profiles and to improve the labelling.

Figure 345 Properties for Longitudinal Profiles Plot – from left to right Y-axis, X-axis and Window Properties

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Figure 346 Longitudinal Plot KP-aligned with Bathy Plot

Note that in the ‘Pens’ item in the Explorer Panel, it is possible to create new pens and to modify
their names and properties. This was done here with a new pen for each of the three profile types
(see Figure 347 below).

Figure 347 Pen Properties

4.3.5 Creating the Cross Profiles Frame

Highlight the ‘Cross Plot’ frame, right-click on it, and choose menu-item ‘Add Profile(s) ->
Cross profile’. Select an appropriate file to load into the frame. The file in the present context has
been generated in NaviEdit and originates from a pipeline inspection survey (therefore the red
circle-indicator of the pipe). The result will at first appear like this:

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Figure 348 Cross Profile - default settings

The KP-values are not aligned against those shown in the Bathy Plot, the labels are outside the
frame, the grids are confusing and the scales furthermore seem unrealistic (the pipe is not a
circle). By changing the properties for the Frame window however, it is possible to align the
cross profiles to the runline in the Bathy Plot frame (see red arrow on Figure 350 below), to
make all profiles visible, to change the grid settings and to improve the labelling (see Figure
349).

Figure 349 Cross Profiles Plot versus Bathy Plot

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Figure 350 Cross Profiles Properties - from left to right: Cross Profile, X-Axis and Y-axis Properties

4.3.6 Creating the Events Plot Frame

Highlight the ‘Events Plot’ frame, right-click on it, and choose menu-item ‘Add Profile(s) ->
Event profile (*.log)’. Select an appropriate file to load into the frame. The *.log files are event-
files that have been generated in NaviPac during online data-acquisition. All manual events will
be sorted in NaviPlot. Each manual event-type will have a line in the Event profile and each
event of the type will be represented by a vertical line on the line at the particular KP-value of
the event. The result looks as visualised in Figure 351 below. Note that the profile visualises data
from the entire survey (approximately KP 0 – KP 70).

Figure 351 Events Profile - default look

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By changing the properties for the Event Profile Frame Window, it is possible to align the Event
Profile to the runline in the Bathy Plot frame (see red arrow on Figure 353 below) as well as to
change the sequence in the Event-lines (see Figure 352 below).

Figure 352 Events Profile Frame versus Bathy Plot Frame – KP-aligned

Figure 353 Event Profile Frame Properties

4.3.7 Adding text

In the text frames that are used to label the frames, we now need to insert the actual text.
Highlight the ‘Text’ frame and take a look at the properties.

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Figure 354 Text Properties

Click on the Text property and change it in accordance with what is shown in Figure 354 by
using the browse icon. This will open the text window. Now change the default [Text] to
‘Bathymetric Plot’. Change ‘Font’, ‘Text Height’ and set the ‘Linetype’ to 0 (no frame). Repeat
this for all four frames. Now the plot appears as shown in Figure 355. Except for the Legend
frame, the plot is now finalized.

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Figure 355 Plot prior to creating the Legend

4.3.8 Creating the Legend

As shown in Figure 333, all frames have been created in accordance with requirements and the
legend frame has been equipped with all frames required. Furthermore these frames have been
named and put in sequence in accordance with requirements. It is now time to add text to the
frames.
The first thing to do is to give the Legend Frame a head. This is done in the very top frame,
where a text box has been prepared. At this stage, the legend looks as shown in Figure 355
above. Highlight the textbox ‘Headline’, press the browse button, insert the text ‘Legend’ and
change the font to Arial, 15 mm. The Legend now looks as shown in Figure 356.

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Figure 356 Legend Headline inserted

4.3.8.1 Adding Sensor Details

The next frame to add text to is the ‘Sensor Details’ frame. Before doing this, the frame looks as
depicted in Figure 357 below. Note, from the Explorer Panel, that the frame has two Text boxes
in it, one with the headline and one with the description of the sensor details.

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Figure 357 Sensor Details prior to entering data

Now highlight the Sensor headline textbox in the Explorer Panel, press the browse button and
insert the text ‘Sensor Details’. Change the font to Arial 8mm. For the Sensor Text, apply the
text shown below in Figure 358 (right) and change the font to Arial, 4 mm. Once this is done, the
Sensor Details frame looks as shown to the left in Figure 358.

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Figure 358 Sensor details entered

4.3.8.2 Adding Geodesy Information

Also the Geodesy Text frame has different textboxes included, one with the headline and two
with the description of the sensor details, one column each.
Insert text ‘Geodesy’ in the geodesy headline text-field and change font to Arial, 8mm. For the
left column, insert the datum-shift parameters with Arial 4mm as font. For the right column,
insert the text as shown in Figure 359 below right and change the font to Arial 4mm. The text-
field now looks as shown in Figure 359 below left.

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Figure 359 Geodesy Details

4.3.8.3 Adding the Scale-bar

Right click on the next legend frame (entitled ‘Scale-bar’) and select menu-item ‘Add Scale-bar’.
At first the scale-bar does not fill the frame and the geodesy does not relate to the Bathy Plot
frame. Change the size of the scale-bar in the Properties Panel and change XY-properties so that
they point at the Bathy Plot. This is shown in Figure 360 below left (see red arrow for XY
properties). To the right in Figure 360, note that the properties for ‘Scale Notation’ and for ‘Scale
prefix’ can be user defined.

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Figure 360 Scale-bar added

4.3.8.4 Adding information about Acquisition and Post-processing

The next frame to add text onto is the frame that must contain information about the
navigation/acquisition- and post-processing software. The frame is constituted by three text
frames, one to hold the headline and two with the information about the data-acquisition phase
and the post-processing phase, respectively.
The text must be added to the two text frames as per description given in the previous. The result
is shown below in Figure 361 left. To the right is shown the text-box in which the post-
processing details are defined.

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Figure 361 Acquisition and Post-processing frame

4.3.8.5 Keyplan
Details about how to generate the keyplan, is given in chapter 4.3.10 ‘Utilizing the Chart Lay-out
Manager’.

4.3.8.6 Adding Project Title

The next frame to add text onto is the Title Frame. The frame is constituted by two text frames
and two frames in which relevant logos is to be placed.
The text is added to the two text frames as per description given in the previous. Now right-click
on the frames to contain the logos and select menu-item ‘Add XY data – Bitmap (*.tif, *.bmp,
*.jpg)’. Select the files in question. The frames have now become XY-frames, because per
definition, Bitmaps are georeferenced in the NaviPlot universe. This means that it is necessary to
define geodesy for the files. This is not as complicated as it sounds. In Figure 362 below, note
the scale to the left (red arrow: 1:1000). To the right is the logic width and height set to 32 and
26 m – also red arrow (approximately). So in the plot units, this equals 3.2 *2.6 cm, which is
approximately the size we want.

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Figure 362 Title Frame with logos

4.3.8.7 Adding Revision History

The revision history is added in the field underneath the ‘Title’ frame that is constituted by a
series of frames. Text can be added to each of these frames, however initially, only the frames
that should contain text (depending on the revision history) have become text frames. This can be
seen in the Explorer Panel in Figure 363. Note that neither the text frames nor the frames have
been named, except for the frame that contains the Headline. It appears that NaviPlot will give
the frames a default name in succession, starting from frame1.

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Figure 363 Revision history prior to entering data

Text must now be added to all the frames that should hold information. Once this is done, the
Revision History frame will appear as shown in Figure 364.

Figure 364 Revision history

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4.3.8.8 Adding Information about Data-acquisition and Post-processing

Finally the field containing additional information must be generated. Figure 364 shows, to the
bottom, the field prior to entering data. We wish to enter actual information about the data-
acquisition and the post-processing phases respectively. For this six text frames, each expected to
contain text at all times, have been generated.
After entering the text, as per procedures described in the above, the field looks as shown in
Figure 365.

Figure 365 Additional information added

4.3.9 Finalizing the Plot

The plot has now been finalized in accordance with the requirements specified in chapter 4.3.2. It
appears as shown in Figure 366 below. Note that, as described in chapter 4.3.1, the tedious
procedure of generating the first plot can obviously be recycled, since it will be possible to use
the plot as a template for any future plots, in particular plots from the same project, thus sharing
the majority of the information contained in the Legend Field. Also, and not least important, it is
possible to take huge benefit from the template generated in the previous, in case of
implementing an active Chart Manager to the project (see chapter 4.2.7 for further details).

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Figure 366 Final Plot

4.3.10 Utilizing the Chart Lay-out Manager

The cdf-file generated in chapter 4.2.7 can actually be used in the present context. Right-click in
the Bathymetric Plot frame and choose menu-item ‘Add XY Data – Chart Definition (*.cdf)’.
Choose the file created in chapter 4.2.7.1. Change the Chart Definition properties in accordance
with what was explained in chapters 4.2.7.3 and 4.2.7.4. The plot now looks as shown in Figure
368. Note that the keyplan has been added (instead of the Signature field). Note, that also in this
field the cdf-file has been added. A close-up as well as details on the keyplan properties is shown
below in Figure 367.

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Figure 367 Keyplan details

Figure 368 Final Chart with Chart Lay-out

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4.3.11 Plotting the chart

Once the plot is finalized, the NaviPlot project can be plotted on a printer/plotter. From the File
menu select ‘Print Setup’. The menu in Figure 369 will now pop up.

Figure 369 NaviPlot - Print/Plot settings

As the initial selection of paper size was A0 landscape (4.2.2), a similar size and orientation must
be selected in the menu above. Once this has been accomplished, press the ‘OK’ button. Now,
from the File menu, select ‘Print Preview’ – and the window in Figure 370 emerges.

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Figure 370 Print Preview

If the result looks acceptable press the ‘Print’ button and the window in Figure 371 will appear.
Now press the ‘OK’ button to initiate the plotting.

Figure 371 Print range

In case the plot contains an active ‘Chart Manager’ with a series of plots, it is possible, at this
stage, to choose the range to plot (see Figure 371 above).

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It is also possible to export/print to a PDF-file. This just requires that a PDF-printer is installed
on the system – so when printing, simply choose the PDF-printer. NaviPlot will generate one
file. In case of an active Chart Lay-out Manager, the plot will contain one page per plot in the
range selected (see Figure 372, where plot 3 of 8 is shown).

Figure 372 Exported to PDF-format

4.3.12 Saving and exporting the project/chart

While working with the chart, it is convenient to store the lay-out of the NaviPlot project on a
regular basis. From the menu-item ‘File - Save as…’ select an appropriate file name and press
‘OK’.
Also while experimenting with different lay-outs and settings, it is often advisable, to frequently
save the chart lay-out, at least before experimenting with new, alternative settings. In this way it
will always be possible to return to a known lay-out, simply by choosing the menu-item ‘File ->
Open…’ and selecting one of the previously stored *.npl files.

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As described in chapter 4.2.1, it is furthermore possible to export to a Zip-archive. This is

particularly useful when moving a project from one computer to another. Choose menu-item
‘File – Export ZIP archive…’ and choose a project (*.npl file). This does not have to be the
present project. Once the file is selected, NaviPlot will zip all associated files into the archive
with associated addresses. Extracting the zip-archive will, in turn, include the absolute addresses
of all associated files. So when opening the unzipped *.npl-files, the addresses will be identical
to what is indicated in the project.
Alternatively the project can be exported as an AutoCAD file. Choose menu-item ‘File – Export
AutoCAD…’ choose an appropriate name and a format among the ones supported (see Figure
373).

Figure 373 Export AutoCAD

In case the plot contains an active Chart Lay-out Manager with a series of plots, it is possible, at
this stage, to choose the range to export to AutoCAD (see Figure 374 below).

Figure 374 Export to AutoCAD - Select range to export

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4.4 Feasible Method, Multi-beam and Single-beam Data

As explained previously, in connection with processing in NaviEdit and NaviModel3
respectively, the overall survey area is subdivided in blocks of 5*5 kilometres that are
north/south oriented. Each of these blocks is again subdivided into cells of 1*1 kilometres; hence
a block consists of 25 blocks. In practice acquisition (multi-beam as well as single-beam data) is
performed by sailing 5 km long lines in a north/south direction, so a full column of 1*5
kilometres is finalised at the same time. In NaviModel3 this means, that processing will
commence once a full column is finalised. The project was an as-built area survey (as opposed to
a line-survey) of an already existing oil-production field. The requirements were consequently
restricted to the bathymetric data combined with geological data, with the latter being acquired
by means of side-scan and subbottom profiler. The bathymetries were based upon a combination
of multi-beam and single-beam data, as also described in chapters 2 and 3.
However, only the multi-beam data were to be directly used for the final presentations in
NaviPlot. This also means that there were no requirements identified to longitudinal profiles, to
cross profiles or to events profiles.
The specific requirements from the client regarding final presentations included the following
data to be shown, on one or more plots:
 A background image to be produced on the basis of the multi-beam data
 Contours at 1m-interval, produced on the basis of the multi-beam DTM. This was
generated as an interpolated average model with cell-size of 1 m (see chapter 3.4)
 Bathymetric depths to be produced on the basis of the DTM produced
 Seabed features, produced primarily on the basis of side-scan observations
 Legend including:
o Geodetic Details
o Legend Details
o Keyplan
o Scale-bar
o Title Field
o Revision Field
o Logos
o Notes Field
o Other information, such as well-head positions
The plots were divided in two, in which the contours and background image were combined with
bathymetric depths and with seabed features, respectively. Each plot was to be drawn in a scale
of 1:2000, covering 1*1 km. This further meant that the plot-size was to be A0. Each chart was
part of a block, that spanned 5*5 km, so in total this accumulated 25 charts per block.

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4.4.1 Design of a Plot Template

The client had very specific requirements to the design of the plots. These requirements were met
with the template described in the following.

4.4.1.1 The Lay-out Manager

The plots were to be generated in an area of 5*5 km with no overlap. This calls for the use of the
NaviPlot Lay-out Manager. Since the plots did not follow a runline, it was decided to generate
the cdf-files manually (see details in chapter 4.2.7). The corner-coordinates of the block were
given from the client. On the basis of these and since the orientation of the blocks were ‘grid
north’, it was a fairly simple matter to generate the cdf-file(s). See an example in Figure 375 left.
Note that he chart coordinates are related to the centre of the chart, whereas the angle-value
expresses the orientation. To the right is visualized the pattern of charts within each block.

Figure 375 CDF-file (left) – and chart-pattern of block (right)

4.4.1.2 The XY Frame

Two templates were to be produced:
 One that contains the background image and the contours shown with the bathymetric depths
together with associated information on the legend
 One that contains the background image and the contours shown with the seabed features
together with associated information on the legend
Further it was a requirement, that there was to be an outer frame with coordinates, a blank middle
frame and an inner frame with the chart-contents. At this stage, the plot/template looks as

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depicted in Figure 376. The cdf-file above has been read into the bathy plot frame (500*500
mm), which consequently has a scale of 1:2000, as required.

Figure 376 Template with 3 Frames for XY contents

The next plots show the XY-frame with background and contours together with the bathy-depths
(interval 50 m) and with the seabed information (see Figure 377 and Figure 378). Note that in
this phase, the data is normally not added to a template. However, it was done in order to give an
impression of how the end-appearance of the frame would be. The two templates are
consequently, in principle, identical at this stage.

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Figure 377 Template (I) with data in XY-frame – including bathy depths

Figure 378 Template (II) with data in XY-frame – including seabed features

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4.4.1.3 The Legend

The template(s) must accommodate the following for the Legend:
 Geodetic Details
 Legend Details
 Keyplan
 Scale-bar
 Title Field
 Revision Field
 Logos
 Notes Field
 Other information, such as well-head positions
Bearing this in mind, and with the special requirements of the client, the template looks as
follows without contents in the legend. It is divided in two: a vertical part to the very right, that
holds the more technical information and a horizontal part at the bottom of the plot that contains
the administrative information.

Figure 379 Template with Headlines for Legend

4.4.1.3.1 Technical Information

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Figure 380 Legend – Installations

The top frame of the legend must contain the coordinate list of the installations. Note that the
frame contains a headline (in Spanish, like the rest of the plot text) and a list of coordinates. The
list of coordinates is inserted as a ‘Tagged text’, entitled ‘Position of installations3’. In this way
it is possible to insert the contents of a textfile into NaviPlot. The file that gives the contents in
Figure 380 is shown below in Figure 382 (the data is arbitrary). The commands should be self-
explanatory ({br} is new line).
Note that each chart must have a separate list of coordinates. This is solved through the use of the
Chart Manager. For each chart, a tagged text-file is prepared. Each of these is read into NaviPlot
in a frame with identical properties. By default the frame is set to invisible. By selecting chart by
chart, it is now possible to set the visible property to ‘on’ for the text-files that match the specific
chart. These settings will be recorded by the Chart Manager – one entry for each of the charts. In
Figure 381 below, the settings have been defined for the first 3 of the 25 charts.

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Figure 381 Chart Manager Entries for the Installation coordinates

Figure 382 Tagged text

The next frame contains the legend details (see Figure 383). Note that it contains three items, the
headline, the legend text and the legend figures. The latter is an AutoCAD-file.

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Figure 383 Legend Details

Next is the Keyplan (‘Croquis de Ubicacion’ in Spanish). It consists of 7 items (see Figure 384).
The Chart Definition block, XY-grid, a background chart (AutoCAD), a North Arrow and three
text frames (name of the Lake etc.). Note that the cdf-file has been set to keyplan mode. In the
bottom right, the outline of the 25 maps can furthermore be seen. Finally note that the scale and
orientation is defined through the contents of the AutoCAD file. So the XY-properties of the
North Arrow are inherited from the frame itself.

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Figure 384 Keyplan

Next is the Scale-bar, comprising a headline and a Scale-bar object, with the latter being linked
to the XY-properties of the ‘Bathy Plot’ XY-frame (see Figure 385).
The Geodetic Parameters field (see Figure 386) is comprised by three text-frames, the headline,
the datum/map-projection field and a field that describes the two different datum-transformation
methods used in the area (the traditional Bursa Wolf method was used in the particular project).

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Figure 385 Scale-bar included

Figure 386 Geodetic Parameters

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4.4.1.3.2 Administrative Information

Figure 387 Title Information

The Title Information is shown in Figure 387. Besides the title of the project, it contains
information associated with the dates of data-acquisition etc. Note the chart number (red arrow).
It is defined as tagged text as shown below in Figure 388 and is thus linked to the cdf-file and to
the Lay-out Manager. The number will be updated when scrolling through the charts (see
chapters 4.2.2 and 4.2.7 for details).

Figure 388 Current chart in tagged text

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Project specific information must be plotted as shown below in Figure 389.

Figure 389 Project specific information

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Figure 390 References field

The References field is shown above in Figure 390. The Revisions field, the Notes field and the
Logo field are visualized in Figure 391, Figure 392 and Figure 393, respectively.

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Figure 391 Revisions Field

Figure 392 Notes Field

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Figure 393 Logo Field

Figure 394 Finale Template

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The final template now looks as shown in Figure 394. The subsequent daily work consists of
using the template, i.e. adding data to the frames and changing text-fields whenever required.

4.4.2 Sequence in Producing the Plot

The idea of using the Lay-out manager is to load all relevant data into a project at the same time
and then to update the information, that is shared by all plots, only once. The latter is primarily
associated with work on the Legend. The Lay-out Manager will then ‘sort’ the data and only
show data associated with one plot at a time.
Bearing in mind the requirements to the contents of plots, the sequence in adding data to the XY-
frame of a block now looks as follows:
 Load the background-file that contains the entire block into the bathy-plot frame – this
must be done first in order to arrive at the correct sequence in drawing
 Load the cdf-file into the bathy-plot frame
 Load all contour files into the bathy-plot frame
 Load the bathymetric file that contains the entire block into the bathy-plot frame (for
template I)
 Load seabed-feature file into the bathy-plot frame (for template II)
The legend must be revised as follows:
 Load the cdf-file into the Keyplan frame
 Load the Installation coordinates into each of the charts. There will be one file per chart and
these must be linked to the file as described in chapter 4.4.1.3.1. NaviPlot will then, when
plotting, print the relevant, individual coordinate list onto the charts
 In the Title-field, the Acquisition Dates (‘Fecha de Medicion’) must be changed together
with the Archive Number (‘Nombre Archivo’). The chart number will be updated
automatically
 In the Project Specific Field, change the Block Number (‘No. Bloque’)
 In the Reference Field, change references, if any
 In the Revisions field, change revision number
All of this must only be done once for the entire block-project. Once it is done, the charts are
ready for export to AutoCAD:
 Choose menu-item ‘File-Export AutoCAD…’. Choose to export all files
The AutoCAD-file constitute the end result of the post-processing within NaviPlot and thus of
the post-processing to be performed in the EIVA post-processing suite. The remaining post-
processing and fine-tuning will be performed in AutoCAD.

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Figure 395 Exported to AutoCAD

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Figure 396 Plotted to PDF-file (1/25 - see red circle)

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4.5 The NaviPlot Flow

For Bathymetric Data, a typical NaviPlot flow can thus be depicted as in Figure 397 below:

Figure 397 The NaviPlot Flow

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5. CONCLUSION
The present Bathymetric Tutorial introduces one way of utilizing the EIVA Hydrographic Post-
processing Suite. It is however regarded important, that final decisions and detailing on the
procedures must always be based upon actual experience, primarily accumulated in connection
with post-processing performed on the basis of data acquired under similar conditions. Having
said this, the importance of eventually defining and implementing final and unambiguous
procedures for the post-processing work must be emphasized.
These procedures must clearly specify, as a minimum, the following (for multi-beam as well as
for single-beam post-processing):
 Parameters for the de-selection of beams
 Extent of the rough check of sensor-data
 Required size of the boundaries/model areas
 Methods for SV-correction (how often to perform SV-measurements, Selection Policy and
usage etc)
 Methods for tidal-correction (predicted tides/observed tides (bathy-height from GPS)
and/or from tide gauges/link to depths on pre-engineering survey; multiple tides methods
etc.)
 Manual Cleaning Method (XT-cleaning (NaviEdit), AT-cleaning (NaviEdit) or Manual
Cleaning in the Planview Editor or in NaviModel3)
 Parameters for the DTM (cell size, interpolation search circle and model type)
 Parameters for the smoothing of the model, if applicable
 Parameters for the creation of contours and for the smoothing of these
 Size, scale and resolution of the contour- and profiles-plots, if any
Based on the Tutorial, however, the full flow through the EIVA Post-processing System for a
Bathymetric Data editing session can be visualized as follows:

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