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Related Manuals for Geometrics MetalMapper 2x2
Summary of Contents for Geometrics MetalMapper 2x2
- Page 1 MetalMapper 2x2 Operations Manual Revision 2.1 P/N 0071740-01 GEOMETRICS, INC. 2190 Fortune Drive San Jose, CA 95131 USA Phone: (408) 954-0522 Fax: (408) 954-0902...
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Page 2: Table Of Contents
Table of Contents BATTERY SAFETY ..........................3 1. Introduction ..........................4 2. System Overview......................... 5 2.1 Data Acquisition Electronics and Software ............... 6 3. System Setup ..........................7 3.1 Cart Assembly ........................7 3.2 GPS/IMU Tower ......................... 9 3.3 Data Acquisition Electronics Backpack ................11 3.4 Cable connections ...................... - Page 3 6.2 Dynamic Measurements ....................36 7. Instrument Settings ........................37 7.1 Application.properties file ....................37 7.2 IMU Overview ........................39 7.2 Calibrating the IMU ......................39 7.3 GPS Configuration ......................39 7.4 Using a Robotic Total Station (RTS) or other external device ......... 40 8.
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Page 4: Battery Safety
BATTERY SAFETY WARNING- Do not damage the rechargeable Lithium Iron Phosphate batteries. A damaged battery can cause an explosion or fire, and can result in injury or property damage. Do not use or charge the batteries if they appear to be damaged. Signs of damage may include punctures, leaks, or warping. -
Page 5: Introduction
(transients) are measured during time off of the transmitter coils. The MetalMapper 2x2 can be used in two collection modes, dynamic or static. Dynamic mode is collected by pushing the cart over targets in a series of closely spaced parallel lines. -
Page 6: System Overview
2. System Overview The MetalMapper 2x2 is comprised of four transmitter coils approximately 35 cm x 35 cm in size. Located in the center of each transmitter coil is a 10 cm x 10 cm x 10 cm receiver cube, each one containing three (3) orthogonal coils to measure the fields resulting in 12 different receiver coils. -
Page 7: Data Acquisition Electronics And Software
Figure 2.2: Sensor platform with top cover removed. Sensor platform fully assembled. 2.1 Data Acquisition Electronics and Software The data acquisition electronics and batteries are mounted on a backpack worn by one of the operators. The electronics are connected to the cart by 3 cables: Tx Cable, Rx Cable, and GPS/IMU Cable. -
Page 8: System Setup
3. System Setup The MetalMapper 2x2 system is packed and shipped in a collapsible plastic crate (P/N MM2x2 Crate) secured with banding. The crate dimensions are 48 in x 44 in x 36 in with a packed weight of approx. 350 lbs. (shipping weights and dimensions may vary). Foam inserts are cut to protect and secure the instrument during shipment. - Page 9 Figure 3.1: Axles with wheels and spacers installed. Note optional zip ties to secure wheels. Take care to avoid getting debris inside the wheel hubs and axles. Wheels and axles should be periodically checked for debris and cleaned to prolong the life. The wheels do not need lubrication during normal operation.
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Page 10: Gps/Imu Tower
3.2 GPS/IMU Tower The GPS and IMU are installed on a 4-legged tower which is centered above the middle of the sensor platform. Assemble each leg of the tower as shown below: Figure 3.3: GPS tower legs The GPS sits on the mounting bolt which is standard 5/8”-11 threaded nylon rod. The numbers on the GPS tower legs must be installed so the number is right-side up. - Page 11 Figure 3.4: GPS Platform Installed. Note the tapered corners point in the direction of travel. The IMU is mounted in a weather-resistant housing. It sits on the underside of the platform below the GPS and is centered above the sensor cart. The IMU is designed to only be installed with the correct orientation.
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Page 12: Data Acquisition Electronics Backpack
Figure 3.5: IMU Installation. The IMU is mounted on the underside of the GPS platform. 3.3 Data Acquisition Electronics Backpack The electronics which control the data acquisition are housed in a weather-resistant orange Pelican case. The electronics housing box has 5 external connections- Rx cable, Tx cable, GPS/IMU cable, power, and Ethernet. -
Page 13: Cable Connections
Electronics box mounting brackets 3.4 Cable connections The MetalMapper 2x2 is typically supplied with 2 complete sets of different length cables. The shorter (9 foot) set is used with the system in walking mode, while the longer set (20 foot) is used with the instrument in skid-steer mode and as spares. - Page 14 The GPS serial output connects to the IMU box. Use the GPS system’s own serial cable to connect the GPS to the DB-9 serial port on the IMU box. On the other side of the IMU box, connect the IMU cable to the round connector. The IMU cable is reversible so it does not matter which side is connected to the electronics box and which side is connected to the IMU box.
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Page 15: Batteries
3.5 Batteries The system is powered by an assembly of two Li-FePO (Lithium-Iron Phosphate) batteries. The batteries are connected in via a custom cable which allows for easy swapping and charging of the batteries. The system is available with a large battery pack (22Ah) or an optional small battery pack (10Ah). -
Page 16: Skid Steer Mode
The MetalMapper 2x2 can also be deployed via a vehicle-mounted skid-steer. Customers will need to design or build their own skid steer as Geometrics no longer offers this option To use the MetalMapper 2x2 with the skid-steer attachment, remove the wheels and axles from the sensor platform. - Page 17 Figure 3.13: Example Skid Steer Attachment...
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Page 18: Quick Start Guide
Connect the field tablet computer via the Ethernet and launch the MetalMapper 2x2 software. The software is on the desktop as MetalMapper with a Geometrics logo icon. Launch by double clicking the icon. The software will prompt the user to accept the EULA and confirm the Instrument Serial Number. - Page 19 The status window is always shown in the software. From left to right it indicates: date and time from the computer’s clock, event log, GPS fix quality indicator, and position and IMU information. GPS fix information is parsed out of the NMEA string. The first number displayed is the GPS quality.
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Page 20: System Configuration
YPR indicates Yaw (magnetic heading), Pitch, and Roll, in degrees, from the IMU. The Yaw is corrected for magnetic declination. The magnetic declination is automatically calculated once the GPS is connected to the software through a magnetic declination look-up table. 4.2 System Configuration When the software is successfully communicating with the electronics, navigate to the Project Settings tab in the Control window. -
Page 21: Parameter Setup
IMU: Ensure the IMU information is correct in the application.properties including baud rate. The system ships standard with a Microstrain 3DM-GX4-25 or 3DM-GX5-25 which updates at 9600 baud. 4.3 Parameter Setup... - Page 22 This window selects the measurement type under “Survey Mode”. Dynamic and Static selections will have default Parameters that cannot be changed by the operator. N Repeats: Number of repeated measurements stacked during each acquisition. This can be changed in the application.properties file. Tx On Time: Time in microseconds current is sent through the transmitter.
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Page 23: Qc Settings
4.4 QC Settings Transmit current lower threshold (A): Transmit current level where the operator will be warned about low batteries. Lithium batteries will display the same voltage throughout their discharge cycle, so this is the way to monitor the batteries before they are fully discharged. This can be changed in the application.properties file. - Page 24 Setup” window. To select Dynamic lines, ensure that “Dynamic Mode” is selected in the “Parameter Setup” window. Select the type of measurement from the drop-down menu. The zoom can be changed by using the buttons under “Center At”. The buttons under “Orientation” change the way the map is displayed.
- Page 25 Static Measurement data can be viewed in the Acquired Data window. Replot will also plot old acquired Static measurements. Dynamic measurements cannot be replotted in this mode as there can be hundreds or thousands of plots per dynamic file. All measured components of the data can be displayed in the plot. The naming convention is <TxCoil><Direction><RxCube>.
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Page 26: Measurement Types
4.6 Measurement Types Code Measurement type Description Static Anomaly Static measurements over an identified location with Measurement an unknown anomaly source Dynamic Anomaly Dynamic survey for detection and classification of Measurements potential MEC Static Background Static measurement over a non-anomalous location Measurement Static Background Static measurement made to confirm SBG location is... - Page 27 G000 Aa000002 598256 4139848 G000 Aa000003 598256 4139846 H000 AaBBBB1 598254 4139852 # currently only dynamic lines are #supported they must appear as a pair of points: I000 I001 598250.1 4139850 I000 I001 598251.7 4139824 I000 I002 598250.5 4139850 I000 I002 598252.1 4139850...
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Page 28: Sensor Qc Features
5. Sensor QC Features 5.1 Static Function Test (SFT) Before starting data acquisition, a Static Function Test (SFT) must be performed and the results verified to ensure proper data collection. The SFT should be performed in an area without known metallic objects nearby. The SFT directly compares the amplitudes of the measured data to a known reference measurement. - Page 29 ISO is well seated in the holder. A tilted or misplaced ISO will cause the measurement to fail. The ISO is designed to be placed so the etched Geometrics logo is up and forward as in the photo below.
- Page 30 After the Functional Test has been collected, the software will automatically compare the measured data to the data in the known reference file. Note that the In-field Inversion will not be valid for SFT measurements as the inversion does not work for targets above the array. The software will display a green “Pass”...
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Page 31: Dynamic Function Test
Where f and r are the 'monostatic' (concentric) X, Y, and Z background corrected responses from the current and reference function tests, respectively. Concentric corrected responses are the measurements in each receiver channel (X, Y, and Z) when the same transmitter coil fires; for example responses in A Rx when A Tx fires, B Rx when B Tx fires, etc. - Page 32 The criterion for the background reference measurement is as follows: �� 200�������� ��− �� �� ∑ δ �� 100�������� For each coil min (�� �� ��, �� If any δ ≥ T, reference background measurement fails If the background should be allowed to vary by a factor of 5, then T is just 5*{number of time bins}.
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Page 33: Static And Dynamic Measurements
6. Static and Dynamic Measurements 6.1 Static Measurements Data can be collected in Static Mode over a list of known anomalies or targets. These targets can be determined from a previous geophysical survey or from the results of the MetalMapper 2x2 dynamic mode survey. -
Page 34: In-Field Inversion
plus direction). Speed is given in the bottom left. Note that it is recommended to survey below 0.7m/s during dynamic surveys. Target types are indicated by their shape. Once they are clicked on they change color to indicate they are selected. The Target ID of the selected target is displayed in the lower left of the map. - Page 35 the anamoly location in Project File. The coordinate display is “Cart Up”, with the units on the Axis in meters and the position 0,0 being cart center. The coherence of the inversion result is also displayed in the window. See image below for an example of the Position Estimate for a target inside the cart footprint and outside the cart footprint.
- Page 36 Below is an example plot of a background-corrected SFT (passed the test). It can be difficult for the field operator to interpret these graphs in the field due to the large volume of data displayed after every measurement. However it can be helpful to diagnose bad channels in the event of a failed SFT.
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Page 37: Dynamic Measurements
6.2 Dynamic Measurements The instrument can also make dynamic measurements while moving in a straight line. The lines are typically arranged as parallel swaths with a spacing determined by the project geophysicist. Once lines are loaded into the survey map from the Project File.csv, click on the line that will be collected first. -
Page 38: Instrument Settings
7. Instrument Settings 7.1 Application.properties file Instrument settings are controlled by text stored in an application.properties file. Before making edits to this file, store a backup copy elsewhere on the tablet. The entire contents of the file can be found in the Appendix of this manual. The location of the application.properties file is: /etc/opt/MetalMapperII Below is a description of the application.properties file. - Page 39 #=============================================================== This section turns on or off the in-field inversion feature. The keyword will change in 2020 and beyond. Please contact the Geometrics for updated keywords. #=============================================================== # GPS setup. Pick one. #=============================================================== gps.protocol = GPGGA gps.baud = 9600 gps.antenna.height=0.9 option.target-proximity=1.5...
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Page 40: Imu Overview
The values in the IMU field should be left as default, unless the position of the IMU is changed relative to the base of the cart (not the ground). 7.2 IMU Overview The IMU is designed to only be installed with the correct orientation on the cart. The 3 bolts attaching it to the platform make the sensor have Y in the direction of motion, X to the left, and Z up (see Figure 2.1). -
Page 41: Using A Robotic Total Station (Rts) Or Other External Device
7.4 Using a Robotic Total Station (RTS) or other external device The MetalMapper 2x2 software can also collect positioning information from a device that outputs a pseudo-NMEA GGA string. An example of this is an RTS system where the Robotic Total Station is set up at a known location and tracks a prism mounted to the GPS Tower on the sensor cart. -
Page 42: Data File Format
8. Data File Format 8.1 HDF5 files and export The MetalMapper 2x2 stores data in an HDF5 file. HDF5 is a self-describing hierarchical data format. Each group in the dataset can have associated attributes. Metadata is stored in the form of user-defined, named attributes attached to the groups or file. There are attributes that pertain to the entire file and attributes specific to each transient. - Page 43 AcquisitionSoftwareVersion = MetalMapperII-1.0.1189 Ambient = 1 AmbientCps = 60,Hz AmbientMode = 1 Averaged = 1 BackgroundAcqReminderInterval = 30,minutes BackgroundOriginalPath = /var/lib/MetalMapperII/Geometrics/Manual/Geometrics_Manual_SBG_125_2019197_001.h5 Cart = [width=1.10, length=1.10, height=0.26],meters Continuous = 0 CountsPerMillivolt = 6.43400,1/milliVolt Created = 2019-07-16T18:22:00.341Z DayStamp = 2019197 DecayTime = 8.332,milliseconds...
- Page 44 2.h5", "Coherence": 0.8704, "FitX": 0.01, "FitY": -0.04, "FitZ": -0.45, "Pol.1": 0.62, "Pol.2": 0.26, "Pol.3": 0.09, "Magnitude": 0.042, "Direction":261.030} LogarithmicallyDecimated = 1 MagneticDeclination = 12.7238,degrees MaximumBackgroundVariation = 10,% MeasurementNumber = 000 NominalDecimationFraction = 5.00,% Operator = geometrics OrientationSensor = 3DMGX25(x=0.0000, y=0.0000, z=1.2000),meters OriginalBasePath = /var/lib/MetalMapperII Project = Geometrics...
- Page 45 QcWindowEndTime = 302,microseconds QcWindowStartTime = 104,microseconds RawValues = 0 ReceiverCoilVertices = AX:(x=-0.2008, y=0.1548, z=0.0452)(x=-0.2008, y=0.2468, z=0.0452)(x=-0.2008, y=0.2468, z=-0.0452)(x=-0.2008, y=0.1548, z=-0.0452),AY:(x=-0.2460, y=0.2008, z=0.0452)(x=-0.1555, y=0.2008, z=0.0452)(x=-0.1555, y=0.2008, z=-0.0452)(x=- 0.2460, y=0.2008, z=-0.0452),AZ:(x=-0.2468, y=0.2468, z=0.0000)(x=-0.1548, y=0.2468, z=0.0000)(x=-0.1548, y=0.1548, z=0.0000)(x=-0.2468, y=0.1548, z=0.0000),BX:(x=0.2008, y=0.1548, z=0.0452)(x=0.2008, y=0.2468, z=0.0452)(x=0.2008, y=0.2468, z=-0.0452)(x=0.2008, y=0.1548, z=-0.0452),BY:(x=0.1555, y=0.2008, z=0.0452)(x=0.2460, y=0.2008, z=0.0452)(x=0.2460, y=0.2008, z=-0.0452)(x=0.1555, y=0.2008, z=-0.0452),BZ:(x=0.1548, y=0.2468, z=0.0000)(x=0.2468, y=0.2468, z=0.0000)(x=0.2468, y=0.1548, z=0.0000)(x=0.1548,...
- Page 46 SurveyMode = STATIC Target = 101125 Tractor = (length=0.50, width=0.50, operatorEyeHeight=1.80, distanceBehindCart=1.25, operatorX=0.00, operatorY=0.00),meters TransmissionCurrentThreshold = 8.00,amperes TransmitterCoilVertices = TA:(x=-0.4012, y=0.4012, z=0.0000)(x=-0.0004, y=0.4012, z=0.0000)(x=-0.0004, y=0.0004, z=0.0000)(x=-0.4012, y=0.0004, z=0.0000),TB:(x=0.0004, y=0.4012, z=0.0000)(x=0.4012, y=0.4012, z=0.0000)(x=0.4012, y=0.0004, z=0.0000)(x=0.0004, y=0.0004, z=0.0000),TC:(x=0.0004, y=-0.0004, z=0.0000)(x=0.4012, y=-0.0004, z=0.0000)(x=0.4012, y=-0.4012, z=0.0000)(x=0.0004, y=-0.4012, z=0.0000),TD:(x=-0.4012, y=- 0.0004, z=0.0000)(x=-0.0004, y=-0.0004, z=0.0000)(x=-0.0004, y=-0.4012, z=0.0000)(x=-0.4012, y=-0.4012, z=0.0000),meters TransmitterExtents = TA:0.04938,TB:0.04938,TC:0.04938,TD:0.04938,meters...
- Page 47 FILE METADATA DEFINITIONS: / (96) Group size = 1 (transients), set by HDF5 standards Number of attributes = number of metadata attributes AcquisitionMode = see chart below for definitions AcquisitionSoftwareVersion = defined in software Ambient = Powerline frequency time gates used AmbientCps = Powerline frequency AmbientMode = Powerline frequency mode on=1, off=2 Averaged = transients are stacked (averaged), yes=1 no=2...
- Page 48 GateCenters = fixed for static or dynamic measurements GateWidths = fixed for static or dynamic measurements GeoID = taken from csv project file naming convention GeodeticDatum = WGS84 used for Lat/Lon to UTM conversion HeightOfTransmitterAssemblyAboveGround = measured from ground to bottom of coils HeightOfZCoilCenterAboveTransmitterAssembly = measured from bottom of coils to center Holdoff = time between transmitter turn-off and receiver measurement Inversion = results from in-field inversion, only included on SAM measurement types...
- Page 49 NominalDecimationFraction = rough estimate of how much longer each window time gate grows Operator = computer user account (login) OrientationSensor = coordinate location of IMU, set in application.properties file OriginalBasePath = directory where collected data files are stored Project = defined in csv project file QcWindowEndTime = end time of SFT comparison window QcWindowStartTime = start time of SFT comparison window RawValues = 0=false (normal instrument operation), 1=true (no scaling factors, used for...
- Page 50 UnsortedChannels = 0 if true, 1 if false. False only used for debugging. WaveformOversampleCount = fixed by acquisition hardware Windows = 99 if static, 20 if dynamic Measurement types Code Measurement type Description Static Anomaly Static measurements over an identified location with Measurement an unknown anomaly source Dynamic Anomaly...
- Page 51 TRANSIENTS METADATA EXAMPLE 0000 (16576, 2) 32-bit floating-point, 99 x 13 Number of attributes = 13 Attitude = (yaw=324.184, pitch=-7.550, roll=4.790),degrees AveragedN = 3 Elevation = 38.900,meters GPSTime = 222140 HAE = -22.025,meters NSat = 9 Quality = 2 TransientNumber = 0000 TransmittedCurrent = 10.217,A UTM = [598317.648 E,4139833.645 N],meters 10N latitude = 37.40006835,degrees...
- Page 52 Attitude = cart orientation during acquisition. Yaw is corrected for magnetic declination. AveragedN = number of stacks averaged Elevation = from GPS GPSTime = UTC Time HAE = geoid separation (from GPS) NSat = number of satellites Quality = 4= RTK fix (for normal operation), 2=GPS fix without RTK TransientNumber = count from 0 TransmittedCurrent = measured transmitted current UTM = UTM position from GPS...
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Page 53: System Diagnostics And Troubleshooting
IMU data missing or 1. Unplug and plug in the IMU cable to cycle power. incorrect 2. Restart the MetalMapper 2x2 software to check connection. 1. Make sure the instrument is in a “clean” area free from metal debris or metal items. - Page 54 Symptom Solution Login as “su” using password Type: date +%T%p -s “HH:MM:SSAM”, where HH:MM:SS is the time to set Type exit to leave “Su” Replace fuses with 10A automotive fuse Check IMU cable carefully for nicks or cuts in the jacket. Battery fuses are blown This can cause shorts in the batteries.
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Page 55: Storage And Maintenance
10. Storage and Maintenance 10.1 Lithium Ion Battery Shipping Guidelines for Customers The battery case is designed to make shipping the batteries back to Geometrics as easy as possible. The following are some guidelines on how to ship them. The following must be included on the outside of the box to be shipped: •... -
Page 56: Packing The Shipping Crate
Materials Transportation, Specifications for Packaging. The customer is solely responsible for shipping the lithium batteries and will be liable for any non-compliance. 10.2 Packing the Shipping Crate The entire instrument is designed to be stored and shipped in a collapsible plastic crate. The dimensions are 48”w x 44”l x 36”h and weighs about 350 lbs. - Page 57 The GPS tower arms fit in the slotted foam piece that sits above the wheels. The cart handle fits atop the bottom level of the foam piece in the slots cut for it. Cables or other miscellaneous items can be stored next to the battery box or next to the backpack in its slot.
- Page 58 Set the upper foam insert on the lower insert. The straps are used to help lift the sensor platform out of the crate once it is loaded. The U-bolts which help brace the axles fit into the slots cut in the insert. Place the cart in the foam insert.
- Page 59 Place the small foam insert on top of the sensor platform. This insert helps secure the sensor platform from vibrating during transit. The axles fit diagonally into the small cut notches in the foam. Cables are coiled and placed atop the sensor platform.
- Page 60 The large rectangular foam insert covers the entire crate. Place the lid on the crate and secure with banding. Please review the shipping instructions in the previous section for freight handling requirements of the batteries. It is possible to ship the instrument without the lithium batteries, if necessary.
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Page 61: Appendix I: Standard Inventory List
Appendix I: Standard Inventory List... -
Page 62: Appendix Ii: Theory Of Operation
Appendix II: Theory of Operation The figure above shows how the instrument performs background cancellation. The example is for 60 Hz, but of course the same diagram can be used to determine what to do for 50Hz or 180Hz, etc. The X scale is microseconds. The Y scale is amperes or volts depending on which signal is plotted. - Page 63 We acquire data during the positive decay and again during the negative decay. The entire measurement spans two cycles of the primary background frequency of concern (the one that needs to be canceled). By inspection, one can see that the background contribution during the negative decay will exactly cancel that during the positive decay, thus we see just the decay curve we're interested in and not the background.
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Page 64: Appendix Iii: Application.properties File
Appendix III: Application.properties file #================================================================ #Directories, path locations. #================================================================ # The path for saving data must be in a directory to which the user # has read and write access. path.data.default=/var/lib/MetalMapperII #path.data.default=~/SomeUserDirectory path.exec=/opt/MetalMapperII-1.0 path.scripts=/opt/MetalMapperII-1.0/scripts #=============================================================== # Equipment serial number. info.equipment-serial-number=9999 option.user-confirm.equipment-serial-number=yes #================================================================ #Features enabled/disabled... - Page 65 #================================================================ # GPS setup. Pick one. #================================================================ gps.protocol = GPGGA gps.baud = 9600 gps.antenna.height=0.9 option.target-proximity=1.5 #gps.protocol=rts-pseudo-GPGGA #================================================================ # Orientation sensors (aka IMUs). MetalMapper currently only # supports the Microstrain SDMGX25 IMU. # The height may be used to override the default value #================================================================ #orientationsensor.protocol=simulation orientationsensor.manufacturer=MicroStrain...
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Page 66: Appendix Iv: Importance Of Valid Background Measurements
Appendix IV: Importance of Valid Background Measurements Collecting valid background measurements is essential for classification of static anomalies using the MetalMapper 2x2 (MM2x2). The MM2x2 uses digital electronics which are not susceptible to drift associated with analog electronics systems. However in testing some users have noted variations in the background signal levels when the instrument sensor platform is undergoing changes in temperature. - Page 67 Figure 1: Small ISO80 leveled with a background taken immediately prior to the target measurement...
- Page 68 Figure 2: Small ISO80 leveled with a different background measurement taken earlier than shown in Fig. 1...
- Page 69 Figure 3: Small ISO80 leveled with a background at the same location but collected even earlier in time than Fig. 1 and Fig 2.
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