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Calculations for Positioning System
Receiver firmware below version 08.01: There are two misalignment angles that you should calculate. Misalignment Z is the more critical for correct positioning data. Make sure these calculations are correct if you enter them in Scala2.
Receiver firmware from version 08.01: Calculate misalignment Z only.
The drawings below show the misalignment angles and how to calculate them:
| Misalignment X (angular offset around X axis) | Misalignment Z (angular offset around Z axis) |
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Sign of Angles
Once you have calculated X and Z misalignment angles from the above formulas, you need to add a positive or negative sign to the result. The sign depends on the offset of the hydrophones. Refer to the drawings below to know if you need to add a negative or positive sign to misalignment Z and X. The sign of the angles is important to receive correct positioning data.
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| Negative sign (-) | Positive sign (+) |
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| Negative sign (-) | Positive sign (+) |