Direction-Finding Sonar System for Autonomous Submarine Estee Amana, Nicole Rennalls, Mitcham Costley, Frederick Ealick ECE Department Georgia Institute.

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Presentation transcript:

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

Georgia Tech Marine Robotics Group

Navy SEAL Practice Pool

Navy Competition 2009 Launch Platform Practice Side Competition Side Bridge Rooftop

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

Design Objectives

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

60° Determine Direction Top View Direction of Motion

MRG Group Sonar Group RS-232 Communication

Physical Constraints Length5” Width5” Depth2” Voltage24VDC Current2A

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

Technical Approach

Sonar System Block Diagram Hydrophones Pinger Variable Gain Amplifier ADC Measure Time Delay RS232RS232 Linux SBC

Hydrophones Pinger Variable Gain Amplifier ADC RS232RS232 Linux SBC Measure Time Delay

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

Amplifiers Hydrophones Pinger Variable Gain Amplifier ADC RS232RS232 Linux SBC Measure Time Delay

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

Amplification Incoming Hydrophone Signal Outgoing Amplified Signal

Linux SBC Hydrophones Pinger Variable Gain Amplifier ADC RS232RS232 Linux SBC Measure Time Delay

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

Cross-correlation V Time (sec) V2V2

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

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

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

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