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Direction-Finding Sonar System for Autonomous Submarine

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. Project Overview. Submarine. Autonomous Underwater Vehicle.

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Direction-Finding Sonar System for Autonomous Submarine

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  1. 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

  2. Project Overview

  3. Submarine

  4. Autonomous Underwater Vehicle

  5. Georgia Tech Marine Robotics Group

  6. Navy SEAL Practice Pool

  7. Navy Competition 2009 Bridge Rooftop Rooftop Practice Side Competition Side Launch Platform

  8. Mission To build sonar system under $400 to complete “Rooftop” task for competition

  9. Design Objectives

  10. Detect Ping Frequency: 20-30kHz 2s 1.3ms

  11. Determine Direction Direction of Motion 60° Top View

  12. Communication RS-232 Sonar Group MRG Group

  13. Physical Constraints

  14. Time Delay Receiver #2 t2 t1< t2 t1 Receiver #1

  15. Technical Approach

  16. Sonar System Block Diagram Variable Gain Amplifier Linux SBC Hydrophones ADC RS232 Pinger Measure Time Delay

  17. Hydrophones Linux SBC Variable Gain Amplifier Hydrophones ADC RS232 Pinger Measure Time Delay

  18. Hydrophone Construction Coaxial Cable Metal Casing Transducer Metallic Membrane Cost: $150

  19. Amplifiers Variable Gain Amplifier Linux SBC Hydrophones ADC RS232 Pinger Measure Time Delay

  20. Filtering Amplifier Design and Testing Cost: $50 • Four stage amplifier circuit • Band pass filter to remove noise V μV

  21. Amplification Incoming Hydrophone Signal Outgoing Amplified Signal

  22. Linux SBC Linux SBC Variable Gain Amplifier Hydrophones ADC RS232 Pinger Measure Time Delay

  23. Sonar System Controller Receives 1000 samples/channel Averages 10 highest & 10 lowest samples Determines time delay Cost: $150

  24. Cross-correlation V V2 Time (sec)

  25. Auto-calibration Pinger Hydrophone Direction of motion Submarine Goal: Eliminate error from submarine design changes, trace lengths, etc.

  26. Demonstration Laptop GT Pool Serial Cable Waterproof PVC Pipe Pinger Hydrophones Electronics

  27. Current Status Construct and test amplifier prototype Implement existing embedded code Build hydrophones Construct amplifier on solder board Test automatic gain control

  28. Project Schedule Test amplifier with pinger Complete hydrophones Mount hydrophones Integrate system Oct Nov Dec Design PCB Demonstration Assemble circuit solder board Control gain Competition Date: June 2009

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