Figure 7
From: Mobile sailing robot for automatic estimation of fish density and monitoring water quality
Changes in the error δ pa as the function of percentage changes in the volume p fs covered by sonar for a three-dimensional model. According to the graph shown the values of error δ pa increase for reduced capacities p fs analyzed by sonar. This relationship is not linear. As it is apparent from the graph, the value p fs equal to 10% or 15% is the best choice, taking into account a compromise between the accuracy and coverage of the reservoir volume.