direction-finding sonar system for autonomous submarine estee amana, nicole rennalls, mitcham...
TRANSCRIPT
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Direction-Finding Sonar System for Autonomous Submarine
Estee Amana, Nicole Rennalls, Mitcham Costley, Frederick Ealick
ECE Department
Georgia Institute of Technology
ECE4007 L01
October 22, 2008
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Project Overview
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Submarine
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Autonomous Underwater Vehicle
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Georgia Tech Marine Robotics Group
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Navy SEAL Practice Pool
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Navy Competition 2009
Launch Platform
Practice Side
Competition Side
BridgeRooftopRooftop
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Mission
To build sonar system under $400 to complete “Rooftop” task for competition
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Design Objectives
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Detect Ping
Frequency: 20-30kHz
2s
1.3ms
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60°
Determine Direction
Top View
Direction of Motion
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MRG GroupSonar Group RS-232
Communication
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Physical Constraints
Length 5”
Width 5”
Depth 2”
Voltage 24VDC
Current 2A
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t1
t2
t1< t2
Time Delay
Receiver #1
Receiver #2
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Technical Approach
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Sonar System Block Diagram
Hydrophones
Pinger
Variable Gain Amplifier
ADC
Measure Time Delay
RS232
Linux SBC
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Hydrophones
Hydrophones
Pinger
Variable Gain Amplifier ADC
RS232
Linux SBC
Measure Time Delay
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Hydrophone Construction
Transducer
Metal Casing
Metallic Membrane
Coaxial Cable
Cost: $150
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Amplifiers
Hydrophones
Pinger
Variable Gain Amplifier
ADC
RS232
Linux SBC
Measure Time Delay
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Filtering Amplifier Design and Testing
Four stage amplifier circuit Band pass filter to remove noise
μV V
Cost: $50
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Amplification
Incoming Hydrophone Signal
Outgoing Amplified Signal
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Linux SBC
Hydrophones
Pinger
Variable Gain Amplifier
ADC
RS232
Linux SBC
Measure Time Delay
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Sonar System Controller
Receives 1000 samples/channel Averages 10 highest & 10 lowest samples Determines time delay
Cost: $150
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Cross-correlation
0 0.2 0.4 0.6 0.8-5
0
5
0 0.2 0.4 0.6 0.8-5
0
5
0 0.1 0.2 0.3 0.4 0.5-5000
0
5000
V
Time (sec)
V2
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Auto-calibration
Goal: Eliminate error from submarine design changes, trace lengths, etc.
Hydrophone
Submarine
Pinger
Direction of motion
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Demonstration
Hydrophones
Waterproof PVC Pipe
Pinger
GT Pool
Laptop
Serial Cable
Electronics
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Current Status
Construct and test amplifier prototype Implement existing embedded code Build hydrophones Construct amplifier on solder board Test automatic gain control
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Dec
Project Schedule
Oct Nov
Test amplifier with pinger
Control gain
Demonstration
Competition Date: June 2009
Mount hydrophones
Assemble circuit solder
board
Complete hydrophones
Integrate system
Design PCB