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)




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.

Misalignment Z (view from above)




Negative sign (-) Positive sign (+)

Misalignment X (view from behind)




Negative sign (-) Positive sign (+)