CPC G01S 15/8902 (2013.01) [G01S 7/52004 (2013.01); G01S 7/539 (2013.01); G01S 7/54 (2013.01)] | 18 Claims |
1. A method of correcting sensor position, the method comprising:
transmitting one or more first pulses of a first frequency range towards a first portion of a seabed;
receiving a first set of backscattered data;
transmitting one or more second pulses of a second frequency range towards a second portion of the seabed;
receiving a second set of backscattered data;
processing the first set of backscattered data and the second set of backscattered data to form a first set of image data and a second set of image data;
comparing the first set of image data and the second set of image data;
creating one or more error vectors between the first set of image data and the second set of image data wherein the one or more error vectors indicate a positional error and a rotational error; and
updating the first set of backscattered data based on the one or more error vectors to produce an updated set of image data.
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