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Direction-Finding Sonar System for Autonomous Submarine

Direction-Finding Sonar System for Autonomous Submarine. Nicole Rennalls, Estee Amana, Frederick Ealick, Mitcham Costley ECE Department Georgia Institute of Technology ECE4007 L01 December 1, 2008. Project Overview. Georgia Tech Marine Robotics Group. 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 Nicole Rennalls, Estee Amana, Frederick Ealick, Mitcham Costley ECE Department Georgia Institute of Technology ECE4007 L01 December 1, 2008

  2. Project Overview

  3. Georgia Tech Marine Robotics Group

  4. Autonomous Underwater Vehicle

  5. Navy SEAL Practice Pool

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

  7. Mission To build a sonar system under $400 to complete the “Rooftop” task, which improves upon previous design group efforts

  8. Design Objectives

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

  10. Determine Direction Direction of Motion 60° Top View

  11. Communication RS-232 Ethernet Sonar Group MRG Group

  12. Physical Constraints

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

  14. Technical Approach

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

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

  17. HydrophoneConstruction Teflon Cable BNC Connector Copper Tube Epoxy Filling Aluminum Foil Epoxy Filling Piezoelectric Crystal Cost: $87 Copper Disc

  18. HydrophoneTesting PVC Pipe

  19. Dr. T. Michaels’ Tank

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

  21. MAX4196 • Single-supply • Rail-to-rail output (within 200 mV) • Drawbacks: • Inconsistent gain across frequency band • Complexity associated with four stages • Gain adjustment difficult

  22. Present Amplifier Design EL8171 Cost: $20

  23. Intersil EL8171 • Single-supply • Rail-to-rail output (within 0 mV) • Advantages: • PMOS input • Stable gain across frequency band • Fewer stages

  24. Amplification

  25. Automatic Gain Control Digital Potentiometer DS1802

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

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

  28. Cross-correlation V V2 Time (sec)

  29. Cross-correlation of Real Data V V2 Sample #

  30. Auto-calibration Pinger Hydrophone Direction of motion Goal: Eliminate error such as submarine design changes and trace lengths.

  31. Previous Demonstration Proposal Laptop GT Pool Serial Cable Waterproof PVC Pipe Pinger Hydrophones Electronics

  32. Current Test Configuration Hydrophone #1 Hydrophone #2

  33. Signal Source

  34. Transducers in Tank

  35. Received Signals at 45°

  36. Received Signals at -45°

  37. Remaining Work Complete amplifier on solder board Complete power supply circuit Eliminate reflections for demonstration

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

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