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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
Project Overview
Submarine
Autonomous Underwater Vehicle
Georgia Tech Marine Robotics Group
Navy SEAL Practice Pool
Navy Competition 2009
Launch Platform
Practice Side
Competition Side
BridgeRooftopRooftop
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 GroupSonar Group RS-232
Communication
Physical Constraints
Length 5”
Width 5”
Depth 2”
Voltage 24VDC
Current 2A
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
RS232
Linux SBC
Hydrophones
Hydrophones
Pinger
Variable Gain Amplifier ADC
RS232
Linux SBC
Measure Time Delay
Hydrophone Construction
Transducer
Metal Casing
Metallic Membrane
Coaxial Cable
Cost: $150
Amplifiers
Hydrophones
Pinger
Variable Gain Amplifier
ADC
RS232
Linux SBC
Measure Time Delay
Filtering Amplifier Design and Testing
Four stage amplifier circuit Band pass filter to remove noise
μV V
Cost: $50
Amplification
Incoming Hydrophone Signal
Outgoing Amplified Signal
Linux SBC
Hydrophones
Pinger
Variable Gain Amplifier
ADC
RS232
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
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
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
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