iXBlue GAPS - Page 88

GAPS - User Guide
Filtering
The filtering heading enables you to apply a filter on positional data. The available options are:
None, Fixed and Mobile:
● None (with rejection): Default mode, the system outputs raw position but filter the outlier
position.
● None (without rejection): outlier filter is fully disabled, the system outputs all raw
positions.
● Fixed or Mobile: In both cases, the measured position is input in a Kalman filter. This
option artificially increases the output rate of positions and achieves a prediction of the
position. These output positions are not the measured acoustic positions.
By default, do not activate the filter. Activate the filter if the unfiltered positioning is stable and
if the increase of the output rate is necessary.
Other
● The Label is a name (eight characters) associated to the transponder.
● The Repetition Factor allows a different interrogation rate for each of the active
transponders. GAPS interrogates each transponder the number of times (up to 5) defined
by the Repetition Factor before interrogating another transponder. see Appendix D for
configuration of Sonardyne Wideband® 1 transponders.
● For transponders equipped with telemetry, the Position Management can be set to
Regular or Send by Telemetry. With the Send by Telemetry option, the USBL position
computed by GAPSis sent to the transponder.
88 MU-GAPS-AN-005-H - November 2019